Method of sensor fusion

A data processing apparatus comprising a processing device configured for carrying out the following:

• receiving configuration data, the configuration data comprising:
• a description of a first system including one or more sensors and one or more target objects;
• and
• an indication that one or more geometric parameters and/or one or more sensor parameters of the first system are unknown;
• receiving an instruction that the received configuration data is to be adjusted into adjusted configuration data, the adjusted configuration data comprising:
• a description of a second system including one or more sensors and one or more target objects;
• and
• an indication that one or more geometric parameters and/or one or more sensor parameters of the second system are unknown,. wherein
• the second system is different from the first system, and/or
• the configuration data includes an indication that a first parameter is unknown, wherein the first parameter is a geometric parameter or a sensor parameter of the first system, wherein the adjusted configuration data does not include an indication that the first parameter is unknown, and/or
• the adjusted configuration data includes an indication that a second parameter is unknown, wherein the second parameter is a geometric parameter or a sensor parameter of the second system, wherein the configuration data does not include an indication that the second parameter is unknown;
• receiving, for each sensor of the second system, measurement data resulting from a plurality of measurements performed by the sensor;
• determining an optimization problem, wherein each unknown geometric parameter and each unknown sensor parameter of the second system are associated with one or more variables of the optimization problem;
• and
• determining a value of each unknown geometric parameter and a value of each unknown sensor parameter of the second system by solving the optimization problem.

A computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to provide a user interface, wherein the user interface is configured for:

• allowing a user to select a first set of items, the first set of items including one or more target objects and one or more sensors for a first system;
• allowing the user to indicate that one or more geometric parameters and/or one or more sensor parameters of the first system are unknown;
• allowing the user to adjust the selection of the first set of items such that the selected first set of items can be changed into a second set of items, the second set of items including one or more target objects and one or more sensors for a second system;
• and
• allowing a user to adjust the indication that the one or more geometric parameters and/or the one or more sensor parameters of the first system are unknown into an indication that one or more geometric parameters and/or one or more sensor parameters of the second system are unknown;
• wherein:
• if, for each sensor of the second system, measurement data resulting from a plurality of measurements performed by the sensor is made available to the computer program, and
• if the second set of items is selected via the user interface, and
• if an indication that one or more geometric parameters and/or one or more sensor parameters of the second system are unknown is made via the user interface,
• then the user interface allows the user to issue an instruction that causes the computer to carry out the following:
• determining an optimization problem, wherein each unknown geometric parameter and each unknown sensor parameter of the second system are associated with one or more variables of the optimization problem;
• and
• determining a value of each unknown geometric parameter and a value of each unknown sensor parameter of the second system by solving the optimization problem.