System and method for inter-sensor calibration

A system, comprising:

• a central processing arrangement in communication with a radar and a camera in a multi-sensor tracking system, the central processing arrangement receiving radar data from the radar and camera data from the camera corresponding to a path of an object, the radar data including radar range data and radar velocity data for the object and the camera data including image angular position data for the object, the central processing arrangement generating an initial radar track using the radar data and initial radar parameters, the central processing arrangement generating an initial camera track using the image angular position data, initial camera parameters, and the radar range data, and the central processing arrangement calculating one of:
• first correction parameters to be applied to the radar data by comparing positions for the object from the initial radar track and the initial camera track wherein, the first correction parameters are selected so that, when applied to the radar data to generate a first corrected track, a degree of correspondence between the first corrected track and the initial camera track is higher than a degree of correspondence between the initial radar track and the initial camera track;
• and
• second correction parameters to be applied to the image angular position data by comparing positions for the object from the initial radar track and the initial camera track wherein, the second correction parameters are selected so that, when applied to the image angular position data to generate a second corrected track, a degree of correspondence between the second corrected track and the initial radar track is higher than a degree of correspondence between the initial radar track and the initial camera track.

A method, comprising:

• capturing first sensor data with a first sensor and second sensor data with a second sensor in a multi-sensor tracking system, the first and second sensor data corresponding to a path of an object;
• generating an initial first track using the first sensor data and initial first sensor parameters;
• generating an initial second track using the second sensor data and at least one aspect of the first sensor data, where the at least one aspect of the first sensor data is used to expand the second sensor data into a three-dimensional space;
• and
• calculating one of:
• first correction parameters to be applied to the first sensor data by comparing positions for the object from the initial first track and the initial second track wherein, the first correction parameters are selected so that, when applied to the first sensor data to generate a first corrected track, a degree of correspondence between the first corrected track and the initial second track is higher than a degree of correspondence between the initial first track and the initial second track;
• and
• second correction parameters to be applied to the second sensor data by comparing positions for the object from the initial first track and the initial second track wherein, the second correction parameters are selected so that, when applied to the second sensor data to generate a second corrected track, a degree of correspondence between the second corrected track and the initial first track is higher than a degree of correspondence between the initial first track and the initial second track.