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

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

doi:10.1007/978-3-642-11628-5_33

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

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

Electrical Engineering

University of Coimbra, Institute of Systems and Robotics

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

8 Scopus citations

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

Original language	British English
Title of host publication	Emerging Trends in Technological Innovation
Subtitle of host publication	First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2
Pages	308-315
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-642-11628-5_33
State	Published - 2010

Publication series

Name	IFIP Advances in Information and Communication Technology
Volume	314
ISSN (Print)	1868-4238

Keywords

Data fusion
Data registration
Multi-modality
Occupancy grid and Homography

Access to Document

10.1007/978-3-642-11628-5_33

Cite this

Aliakbarpour, H., Ferreira, J. F., Khoshhal, K., & Dias, J. (2010). A novel framework for data registration and data fusion in presence of multi-modal sensors. In Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2 (pp. 308-315). (IFIP Advances in Information and Communication Technology; Vol. 314). https://doi.org/10.1007/978-3-642-11628-5_33

Aliakbarpour, Hadi ; Ferreira, Joao Filipe ; Khoshhal, Kamrad et al. / A novel framework for data registration and data fusion in presence of multi-modal sensors. Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. 2010. pp. 308-315 (IFIP Advances in Information and Communication Technology).

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Aliakbarpour, H, Ferreira, JF, Khoshhal, K & Dias, J 2010, A novel framework for data registration and data fusion in presence of multi-modal sensors. in Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. IFIP Advances in Information and Communication Technology, vol. 314, pp. 308-315. https://doi.org/10.1007/978-3-642-11628-5_33

A novel framework for data registration and data fusion in presence of multi-modal sensors. / Aliakbarpour, Hadi; Ferreira, Joao Filipe; Khoshhal, Kamrad et al.
Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. 2010. p. 308-315 (IFIP Advances in Information and Communication Technology; Vol. 314).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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Aliakbarpour H, Ferreira JF, Khoshhal K, Dias J. A novel framework for data registration and data fusion in presence of multi-modal sensors. In Emerging Trends in Technological Innovation: First IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2. 2010. p. 308-315. (IFIP Advances in Information and Communication Technology). doi: 10.1007/978-3-642-11628-5_33

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

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