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 multimodal sensory data on various geometrically parallel planes, a two-dimensional occupancy grid (as a layer) is applied for each plane.

• Type: Conference
• Year: 2010
• Where: IFIP
• Authors: Hadi Aliakbarpour, João Filipe Ferreira, Kamrad Khoshhal, Jorge Dias
• Keywords: IFIP 2010, Multi-modal Sensors, Occupancy Grid, Programming Languages, Sensory Data