Sensor calibration optimization system and method

A non-transitory computer readable medium having stored thereon instructions for causing a processing circuitry to execute a process, the process comprising:

• receiving, by the processing circuitry, a signal from a plurality of sensors selected by a user;
• performing, by the processing circuitry, a calibration on the plurality of sensors;
• forming, by the processing circuitry, a calibration loop based on the plurality of sensors;
• performing, by the processing circuitry, an optimization of the calibration on the signals from the plurality of sensors after the calibration is performed, including a minimization comprising minimizing ∥C1′−C1∥2+∥C2′−C2∥2+∥C3′−C3∥2 such that M(C3′)*M(C2′)*M(C1′)=I, wherein:
• C1, C2, and C3 each represents a result of the calibration performed on a pair of sensors from the plurality of sensors, and forms a closed loop with each other,
• C1′, C2′, C3′ each represents a result of the optimization of the calibration for the respective C1, C2, and C3,
• M(C1′), M(C2′), and M(C3′) represent a 4×4 matrix converted from respective calibrations C1′, C2′, and C3′ towards which the optimization is applied, and
• I is an identity matrix describing an ideal value;
• determining, by the processing circuitry, an optimized calibration value by applying a loop constraint based on the formed calibration loop;
• and
• applying the optimized calibration value to the plurality of sensors to minimize errors of subsequent signals from the plurality of sensors.

A sensing system, comprising:

• a plurality of sensors;
• a processing circuitry;
• and
• a memory, the memory containing instructions that, when executed by the processing circuitry, configure the sensing system to:
• receive, by the processing circuitry, a signal from the plurality of sensors;
• perform, by the processing circuitry, a calibration on the plurality of sensors, the calibration having a predetermined vector size corresponding to a plurality of parameters of the calibration;
• perform, by the processing circuitry, an optimization of the calibration on the plurality of sensors after the calibration, wherein the optimization includes a minimization that includes applying a loop constraint, wherein:
• the calibration includes an extrinsic calibration, and
• the optimization includes a minimization comprising:
• minimizing ∥C1′−C1∥2+∥C2′−C2∥2+∥C3′−C3∥2 such that M(C3′)*M(C2′)*M(C1′)=I, wherein:
• C1, C2, and C3 each represents a result of the calibration performed on a pair of sensors from the plurality of sensors, and forms a closed loop with each other,
• C1′, C2′, C3′ each represents a result of the optimization of the calibration for the respective C1, C2, and C3,
• M(C1′), M(C2′), and M(C3′) represent a 4×4 matrix converted from respective calibrations C1′, C2′, and C3′ towards which the optimization is applied, and
• I is an identity matrix describing an ideal value,
• minimizing errors of subsequent signals from the plurality of sensors based on the optimization, and
• subjecting the minimized values to a Levenberg Marquardt algorithm.