Sensor registration deals with the correction of registration errors and is an inherent problem in all multisensor tracking systems. Traditionally, it is viewed as a least squares or a maximum likelihood problem independent of the fusion problem. We formulate it as a Bayesian estimation problem where sensor registration and track-to-track fusion are treated as joint problems and provide solutions in cases 1) when sensor outputs (i.e., raw data) are available, and 2) when tracker outputs (i.e., tracks) are available. The solution to the latter problem is of particular significance in practical systems as band limited communication links render the transmission of raw data impractical and most of the practical fusion systems have to depend on tracker outputs rather than sensor outputs for fusion. We then show that, under linear Gaussian assumptions, the Bayesian approach leads to a registration solution based on equivalent measurements generated by geographically separated radar trackers. In addition, we show that equivalent measurements are a very effective way of handling sensor registration problem in clutter. Simulation results show that the proposed algorithm adequately estimates the biases, and the resulting central-level trucks are free of registration errors.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Joint sensor registration and track-to-track fusion for distributed trackers


    Contributors:
    Okello, N.N. (author) / Challa, S. (author)


    Publication date :

    2004-07-01


    Size :

    888649 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    A Comparison of Track-to-Track Fusion Algorithms for Automotive Sensor Fusion

    Matzka, Stephan / Altendorfer, Richard | Tema Archive | 2009


    Combi-Tor: Track-to-Track Association Framework for Automotive Sensor Fusion

    Duraisamy, Bharanidhar / Schwarz, Tilo | IEEE | 2015


    On optimal track-to-track fusion

    Chang, K.C. / Saha, R.K. / Bar-Shalom, Y. | IEEE | 1997