A novel framework for data registration and data fusion in presence of multi-modal sensors

Hadi Aliakbarpour, Joao Filipe Ferreira, Kamrad Khoshhal, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

8 Scopus citations


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

Original languageBritish English
Title of host publicationEmerging Trends in Technological Innovation
Subtitle of host publicationFirst IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2
Number of pages8
StatePublished - 2010

Publication series

NameIFIP Advances in Information and Communication Technology
ISSN (Print)1868-4238


  • Data fusion
  • Data registration
  • Multi-modality
  • Occupancy grid and Homography


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