Sensor Registration by Global Optimization Procedures
First Claim
1. A method for registering a first sensor sensing a first set of measurements from a first plurality of objects and a second sensor sensing a second set of measurements from a second plurality of objects, comprising the steps of:
- generating a likelihood function associating a data element from the first set of measurements with a data element from the second set of measurements;
generating a systematic error function based at least in part on the likelihood function;
minimizing the systematic error function; and
,assigning an object from the first plurality of objects to an object from the second plurality of objects, based at least in part on the minimized systematic error function.
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Abstract
Disclosed are method and apparatus for registering multiple sensors collecting data from multiple objects. Sensor registration is decomposed into a two-step procedure. The first step corrects systematic errors. The second step assigns objects measured by one sensor to objects measured by a second sensor. Systematic errors are corrected by generating the global minimum of a systematic error function. One embodiment for generating the global minimum uses a Continuous Greedy Randomized Adaptive Search Procedure.
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Citations
12 Claims
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1. A method for registering a first sensor sensing a first set of measurements from a first plurality of objects and a second sensor sensing a second set of measurements from a second plurality of objects, comprising the steps of:
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generating a likelihood function associating a data element from the first set of measurements with a data element from the second set of measurements; generating a systematic error function based at least in part on the likelihood function; minimizing the systematic error function; and
,assigning an object from the first plurality of objects to an object from the second plurality of objects, based at least in part on the minimized systematic error function. - View Dependent Claims (2, 3, 4)
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5. A data processing system for registering a first sensor sensing a first set of measurements from a first plurality of objects and a second sensor sensing a second set of measurements from a second plurality of objects, comprising:
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means for generating a likelihood function associating a data element from the first set of measurements with a data element from the second set of measurements; means for generating a systematic error function based at least in part on the likelihood function; means for minimizing the systematic error function; and
,means for assigning an object from the first plurality of objects to an object from the second plurality of objects, based at least in part on the minimized systematic error function. - View Dependent Claims (6, 7, 8)
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9. A computer readable medium storing computer program instructions for registering a first sensor sensing a first set of measurements from a first plurality of objects and a second sensor sensing a second set of measurements from a second plurality of objects, said computer program instructions defining the steps of:
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generating a likelihood function associating a data element from the first set of measurements with a data element from the second set of measurements; generating a systematic error function based at least in part on the likelihood function; minimizing the systematic error function; and
,assigning an object from the first plurality of objects to an object from the second plurality of objects, based at least in part on the minimized systematic error function. - View Dependent Claims (10, 11, 12)
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Specification