A Kalman filter based registration approach for asynchronous sensors in multiple sensor fusion applications

@article{Zhou2004AKF,
  title={A Kalman filter based registration approach for asynchronous sensors in multiple sensor fusion applications},
  author={Yifeng Zhou},
  journal={2004 IEEE International Conference on Acoustics, Speech, and Signal Processing},
  year={2004},
  volume={2},
  pages={ii-293}
}
A Kalman filter based registration approach is proposed for multiple asynchronous sensors. In the approach, a linear time-varying measurement model is formulated using a first order approximation and is shown to be uniformly completely observable. The sensor registration errors are estimated based on the application of a modified two-stage Kalman estimator. The proposed registration approach is computationally efficient and is capable of handling asynchronous sensor measurements. Simulation and… CONTINUE READING
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