Disclosed are an apparatus and a method for fast path search using learning of a heuristic function according to the present invention. In one embodiment, the present invention also relates to method of use of presently provided composition. At least one balancing weight is fixed to the wheel in dependence on the balancing vector. The system and method include other novel features, such as a data synchronization feature that uses a time offset between cameras to obtain the transformation parameters, and a technique that improves the robustness and accuracy of solving for the transformation parameters, and an interpolation process that interpolates between sampled points if there is no data at a particular instant in time. A system is also described and claimed.