Relative pose estimation and data adjustment of multiple sensors

An apparatus comprising:

• a plurality of sensors;
• a memory that stores instructions;
• and
• processing circuitry that executes the instructions to:
• transform, by a computing system for an object having a plurality of sensors, motion measurement data of a first sensor of a pair of sensors of the plurality of sensors and motion measurement data of a second sensor of the pair of sensors into a common coordinate system;
• determine, based at least in part on applying a distance function to the transformations of the motion measurement data of the pair of sensors, residual data for the transformations of the motion measurement data of the pair of sensors;
• repeat selecting a new second sensor from the plurality of sensors for all unique pairs of sensors, the unique pairs of sensors including the first sensor, transforming motion measurement data of the new second sensor into the common coordinate system, and determining residual data for the transformation of the motion measurement data of the first sensor and motion measurement data of the new second sensor, and collecting the residual data of the unique pairs of sensors in a residual motion vector data;
• and
• determine a relative pose for the first and second sensors based at least in part on the residual motion vector data and adjust sensor data of the first and second sensors based at least in part on the relative pose.

A non-transitory computer-readable storage medium comprising instructions, that when executed by processing circuitry of a computing system, cause the processing circuitry to:

• transform, by a computing system for an object having a plurality of sensors, motion measurement data of a first sensor of a pair of sensors of the plurality of sensors and motion measurement data of a second sensor of the pair of sensors into a common coordinate system;
• determine, based at least in part on applying a distance function to the transformations of the motion measurement data of the pair of sensors, residual data for the transformations of the motion measurement data of the pair of sensors;
• repeat selecting a new second sensor from the plurality of sensors for all unique pairs of sensors, the unique pairs of sensors including the first sensor, transforming motion measurement data of the new second sensor into the common coordinate system, and determining residual data for the transformation of the motion measurement data of the first sensor and motion measurement data of the new second sensor, and collecting the residual data of the unique pairs of sensors in a residual motion vector data;
• and
• determine a relative pose for the first and second sensors based at least in part on the residual motion vector data and adjust sensor data of the first and second sensors based at least in part on the relative pose.