Dr. Subodh Mishra, Research Engineer with Ford Motor Company gave a talk on Multi-sensor Registration for Autonomous Systems on 5 June.

In his talk, Dr. Subodh Mishra addressed how Autonomous Systems use multiple sensors for perception, planning and state estimation as one sensor cannot provide complete information about the system and its environment. For instance, cameras provide colour and appearance information but lack depth while LiDARs provide depth information but lack colour/appearance. Hence, combining LiDAR and Camera data improves perception fidelity. As far as state estimation is concerned low frequency sensors like LiDARs, Cameras, GNSS need to be fused with high frequency IMU measurements in-order to generate smooth high frequency state estimates for closed loop control. However, to fuse data from various sensors together their measurements need to be represented in a common frame of reference. The process of aligning different sensors into a common reference is called sensor registration. This talk provided a general insight into various methods of sensor registration which is an unavoidable prerequisite for multi-sensor fusion, estimation, planning and perception.


Dr. Subodh Mishra is a Localization Research Engineer with Ford Motor Company’s Autonomy Team working on next generation ADAS for the company’s consumer vehicles. He holds a Ph.D in Mechanical Engineering from Texas A&M University where his research was focused on Extrinsic calibration of robotic sensors.

June 2023