Mutual Information Based Sensor Registration and Calibration

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
Proceedings of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2006, pp. 25 - 30
Issue Date:
2006-01
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Knowledge of calibration, that defines the location of sensors relative to each other, and registration, that relates sensor response due to the same physical phenomena, are essential in order to be able to fuse information from multiple sensors. In this paper, a mutual information (MI) based approach for automatic sensor registration and calibration is presented. Unsupervised learning of a nonparametric sensing model by maximizing mutual information between signal streams is used to relate information from different sensors, allowing unknown sensor registration and calibration to be determined. Experiments conducted in an office environment are used to illustrate the effectiveness of the proposed technique. Two laser sensors are used to capture people mobbing in an arbitrarily manner in the environment and MI from a number of attributes of the motion are used for relating the signal streams from the sensors. Thus the sensor registration and calibration is achieved without using artificial patterns or pre-specified motions
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