Abstract: For an object having a plurality of sensors, motion measurement data of a first sensor of a pair of sensors and motion measurement data of a second sensor of the pair of sensors is transformed into a common coordinate system. Residual data for the transformations of the motion measurement data of the pair of sensors is determined by applying a distance function to the transformations of the motion measurement data. This is repeated for all unique pairs of sensors including the first sensor, and the residual data for each pair of sensors is collected in a residual motion vector data. A relative pose for the first and second sensors is determined based on the residual motion vector data. Sensor data of the first and second sensors may be adjusted based at least in part on the relative pose.

Abstract: A method is disclosed for enhancing a CT image composed of a plurality of elements, each having an intensity value indicative of a tissue type. The method comprises receiving (101) a first CT image, providing, by enhancement processing (103) based on said first CT image, a plurality of copies of said first CT image, and combining (104) said copies with said first CT image, whereby an enhanced CT image is provided. The combining is based on a classification with respect to intensity values of regions within said first and said copies of said first CT image. The enhancement processing (103) is performed with respect to predetermined intensity value ranges. The method may be implemented as a computer program product or as a device.

Abstract: A method is disclosed for enhancing a CT image composed of a plurality of elements, each having an intensity value indicative of a tissue type. The method comprises receiving (101) a first CT image, providing, by enhancement processing (103) based on said first CT image, a plurality of copies of said first CT image, and combining (104) said copies with said first CT image, whereby an enhanced CT image is provided. The combining is based on a classification with respect to intensity values of regions within said first and said copies of said first CT image. The enhancement processing (103) is performed with respect to predetermined intensity value ranges. The method may be implemented as a computer program product or as a device.