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System and methods for scanning with integrated radar detection and image capture

  • US 10,254,395 B2
  • Filed: 12/04/2013
  • Issued: 04/09/2019
  • Est. Priority Date: 12/04/2013
  • Status: Active Grant
First Claim
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1. A method for mapping radar sensor data points to positions in image data, the method comprising:

  • determining a position of a device using a positioning module of the device;

    capturing radar data points of one or more objects using an integrated radar sensor of the device, wherein the radar data points are associated with a polar coordinate system, and wherein the integrated radar sensor has an operational frequency within the range of 76-82 GHz;

    capturing image data of the one or more objects using an integrated image sensor of the device;

    determining a subset of the radar data points that correspond with the one or more objects;

    determining radar geospatial data for each radar data point of the subset of radar data points, wherein determining the radar geospatial data for each radar data point of the subset of radar data points includes converting the radar data point from the polar coordinate system to a Cartesian grid and generating a spatial model of the one or more objects based on the radar data points, wherein the spatial model corresponds to a three-dimensional point cloud generated by rotating or repositioning the integrated radar sensor to scan a horizontal axis and scan a vertical axis using servo controls of the device, wherein the spatial model is generated relative to the position of the device, wherein a grid spacing of the Cartesian grid varies as a function of distance from the integrated radar sensor, and wherein a measurement resolution of the integrated radar sensor is not limited to the grid spacing for the Cartesian grid;

    matching radar data points of the subset of radar data points to positions in the image data, wherein matching includes overlaying the image data and data from the spatial model to assign the radar geospatial data determined for each radar data point of the subset of radar data points to positions in the image data;

    storing, by the device, the image data in association with matched radar data points; and

    displaying the image data on a display of the device with the matched radar data points.

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