Sensor Registration for Robotic Applications

Multi-sensor data fusion plays an essential role in most robotic applications. Appropriate registration of information from different sensors is a fundamental requirement in multi-sensor data fusion. Registration requires significant effort particularly when sensor signals do not have direct geometric interpretations, observer dynamics are unknown and occlusions are present. In this paper, we propose Mutual Information (MI) based sensor registration which exploits the effect of a common cause in the observed space on the sensor outputs that does not require any prior knowledge of relative poses of the observers. Simulation results are presented to substantiate the claim that the algorithm is capable of registering the sensors in the presence of substantial observer dynamics.