Object to Multisensor Coregistration with Eight Degrees of Freedom y

A new least squares procedure is presented which fuses data from a standard perspective sensor CCD camera FLIR sensor etc and a range sensor LADAR based upon correspond ing features identi ed on a D object model and in each image The algorithm solves for both the pose estimate of the object relative to the sensors and the registration between sen sors This model based coregistration process is being developed to support future work rec ognizing modeled D objects in scenes imaged by both optical FLIR and CCD and range LADAR sensors Coregistration results are presented for both synthetic and real world tests The algorithm requires an initial pose and sensor registration estimate Tests on con trolled synthetic data show it is robust with re spect to substantial errors in initial translation and orientation errors up to roughly degrees