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                <editor>Luis M. Camarinha-Matos; Pedro Pereira; Luis                                    Ribeiro</editor>
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              <p>This article presents a novel framework to register                            and fuse heterogeneous sensory data. Our approach is based on                            geometrically registration of sensory data onto a set of virtual                            parallel planes and then applying an occupancy grid for each layer. This                            framework is useful in surveillance applications in presence of                            multi-modal sensors and can be used specially in tracking and human                            behavior understanding areas. The multi-modal sensors set in this work                            comprises of some cameras, inertial measurement sensors (IMU), laser                            range finders (LRF) and a binaural sensing system. For registering data                            from each one of these sensors an individual approach is proposed. After                            registering multi-modal sensory data on various geometrically parallel                            planes, a two-dimensional occupancy grid (as a layer) is applied for                            each plane.</p>
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