Patent ID: 8818036

Claim:
A system for sensor viewpoint registration, the system comprising: one or more processors and a memory having instructions such that when the instructions are executed, the one or more processors perform operations of: receiving an image of a scene of a geospatial region, wherein the image of the scene comprises at least one object, and wherein the image of the scene is captured by a sensor having a current sensor state x and a previous sensor state; receiving observation data z related to the at least one object's state, wherein the observation data z comprises at least one object behavior of the at least one object given the geospatial region; generating an estimate of the current sensor state x using a probability of an observation from the observation data z given the current sensor state x; and registering the image of the scene with a geospatial model or map based on the estimate of the current sensor state x, wherein the system further performs an operation of converging a set of particles on the estimate of the current sensor state x using the observation data z and the previous sensor state, wherein the set of particles represent a set of candidate registration solutions.