System and method for pose estimation of sensors using motion and angular shift

Abstract

A method and system for of relative pose estimation between two or more sensors is disclosed. The system and method may include receiving a time frame, determine expected change in relative pose of at least two of the sensors, within the time frame and expected relations between angular directions of at least two of the sensors, calculating, by a processor, for each sensor a pose shift, calculating for each sensor the sensor's angular directions within the time frame, comparing relations between different sensors' angular directions, at each point in time, based on the expected relations between angular directions to determine a common direction of the two or more sensors, comparing common directions of the two or more sensors between different points in time based on the expected change in relative pose, and estimating the relative pose between the two or more sensors based on the comparison.