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A Novel Framework for Data Registration and Data Fusion in Presence of Multi-modal Sensors

Abstract : This article presents a novel framework to register and fuse heterogeneous sensory data. Our approach is based on geometrically registration of sensory data onto a set of virtual parallel planes and then applying an occupancy grid for each layer. This framework is useful in surveillance applications in presence of multi-modal sensors and can be used specially in tracking and human behavior understanding areas. The multi-modal sensors set in this work comprises of some cameras, inertial measurement sensors (IMU), laser range finders (LRF) and a binaural sensing system. For registering data from each one of these sensors an individual approach is proposed. After registering multi-modal sensory data on various geometrically parallel planes, a two-dimensional occupancy grid (as a layer) is applied for each plane.
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Hadi Aliakbarpour, Joao Filipe Ferreira, Kamrad Khoshhal, Jorge Dias. A Novel Framework for Data Registration and Data Fusion in Presence of Multi-modal Sensors. First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS), Feb 2010, Costa de Caparica, Portugal. pp.207-314, ⟨10.1007/978-3-642-11628-5_33⟩. ⟨hal-01060753⟩

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