Online sensor registration

In a multi-sensor scenario, accurate data fusion is best achieved by processing the measurements from all the sensors at a fusion node to produce tracks. However, inaccuracies in the position and/or rotation of the sensor can lead to "ghost" tracks, particularly when the sensors are not co-located. This paper presents a framework which models the uncertainty over the sensors' registration parameter (e.g. position and rotation) and discloses an unscented implementation technique (other methods based on particle filters can be accommodated within our framework), where each sensor self-localises using targets of opportunity. The aim is to solve the sensor registration problem whilst adding minimal overhead to an existing tracker, which is facilitated by making the standard assumption that the state of the joint target factorises over the individual targets.