Sensor registration by global optimization procedures
First Claim
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1. A measurement system comprising:
- a first sensor configured to sense a first set of measurements from a first plurality of objects;
a second sensor configured to sense a second set of measurements from a second plurality of objects; and
a computer comprising;
a sensor network interface configured to receive the first set of measurements and the second set of measurements;
a central processing unit configured to execute computer program instructions; and
a data storage storing computer program instructions defining;
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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4 Claims
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1. A measurement system comprising:
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a first sensor configured to sense a first set of measurements from a first plurality of objects; a second sensor configured to sense a second set of measurements from a second plurality of objects; and a computer comprising; a sensor network interface configured to receive the first set of measurements and the second set of measurements; a central processing unit configured to execute computer program instructions; and a data storage storing computer program instructions defining; 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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Specification