Performance bounds for recursive sensor registration
Neil Gordon, Branko Ristić, Michael D. Robinson · 2003
A pre-requisite to successful multi-sensor in- tegration is that the data from reporting sensors be trans- ferred to a common reference frame free of errors. This is referred to as sensor registration. In this paper we consider the problem of recursive sensor registration al- gorithms, which carry out simultaneous registration and tracking. Cramer-Rao pe flormance bounds are derived for recursive sensor registration assuming asynchronous dis- similar sensors. The statistical error pelformance of the EKF applied to the recursive sensor registration problem is compared with the bounds.