Methods for inversion of sensors and emitters orientation in multi-sensor imaging

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

• causing emitters of a multi-sensor imaging apparatus to emit a first set of ultrasound signals, wherein the multi-sensor imaging apparatus includes the emitters and sensors;
• measuring arrival times of the ultrasound signals and amplitudes of the first set of ultrasound signals;
• estimating initial locations of the sensors based on the measured arrival times and amplitudes;
• pointing each of the sensors towards a center mass location;
• fitting an initial orientation to each of the sensors and to each of the emitters using a loss function;
• determining a coarse model based on the initial locations of the sensors and initial locations of the emitters;
• calculating a new location and a new orientation for each of the sensors and each of the emitters based on the coarse model and a second set of ultrasound signals;
• employing a full wave inversion (FWI) to generate an updated model based on the new locations and the new orientations of the sensors and emitters;
• and
• determining an orientation of each of the sensors and each of the emitters based on the updated model.

A system, comprising:

• a processing circuitry;
• a plurality of emitters communicatively connected to the processing circuitry;
• a plurality of sensors communicatively connected to the processing circuitry;
• and
• a memory, the memory containing instructions that, when executed by the processing circuitry, configure the system to:
• cause the plurality of emitters to emit a first set of ultrasound signals;
• measure arrival times and amplitudes of the first set of ultrasound signals;
• estimate initial locations of the sensors based on the measured arrival times and amplitudes;
• point each of the plurality of sensors towards a center mass location;
• fit an initial orientation to each of the plurality of sensors and to each of the plurality of emitters using a loss function;
• determine a coarse model based on the initial locations of the plurality of sensors and initial locations of the plurality of emitters;
• calculate a new location and a new orientation for each of the plurality of sensors and each of the plurality of emitters based on the coarse model and a second set of ultrasound signals;
• employ a full wave inversion (FWI) to generate an updated model based on the new locations and the new orientations of the plurality of sensors and the plurality of emitters;
• and
• determine an orientation of each of the plurality of sensors and each of the plurality of emitters based on the updated model.