Abstract
Sensor registration plays an important role in multi-sensor fusion system. In practical scenarios, the performance of traditional registration algorithms degrades when the measurements are closely positioned. In this paper, we point out and analyze the ill-conditioning problem of multi-sensor maximum likelihood registration (MLR) algorithm. Then we propose an ill-condition controlled maximum likelihood registration (ICMLR) algorithm, which can solve the ill-conditioning problem by the technique of diagonal loading. Compared with MLR, the proposed algorithm demonstrates the advantages in both bias estimates and target state estimates in terms of the root mean square error (RMSE) criterion.
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