Choice of coordinate systems for multiple sensor fusion

Ted J. Broida

doi:10.1117/12.57926

30 April 1992 Choice of coordinate systems for multiple sensor fusion

Ted J. Broida

Proceedings Volume 1611, Sensor Fusion IV: Control Paradigms and Data Structures; (1992) https://doi.org/10.1117/12.57926
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Fusion of kinematic measurements from spatially separated and/or independently moving sensors can be considerably simplified by judicious choice of coordinate systems. This paper discusses kinematics and issues associated with sensor-level (measurement) and central-level (fusion) coordinate systems. Compensation for sensor motion is briefly discussed and a coordinate system for angle-only tracking is discussed that avoids some of the difficulties associated with polar or spherical coordinates.

Citation Download Citation

Ted J. Broida "Choice of coordinate systems for multiple sensor fusion", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); https://doi.org/10.1117/12.57926

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