Method and implementation to detect coordinated motions of multiple entities

• US 10,282,850 B2
• Filed: 04/20/2017
• Issued: 05/07/2019
• Est. Priority Date: 04/20/2017
• Status: Active Grant

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Wroblewski, Ronald J.
• Primary Examiner(s): Vu, Kim Y
• Assistant Examiner(s): Delaney, Molly
• Application Number:
  US15/492,769
• Publication Number:
  US 20180308239A1
• Time in Patent Office: 747 Days
• CPC Class Codes: G06F 16/2264 Multidimensional index structures
• CPC Class Codes: G06T 2207/10044 Radar image
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/20072 Graph-based image processing
• CPC Class Codes: G06T 2207/30248 Vehicle exterior or interior
• CPC Class Codes: G06T 7/231 using full search

Abstract

A system is provided for determining coordinated motion between objects. The system includes a velocity data receiving component, a position data receiving component, a multidimensional indexing component and a determining component. The velocity data receiving component receives velocity data of the objects. The position data receiving component receives position data of the objects. The multidimensional indexing component generates multidimensional indices of the objects based on the velocity data and position data. The determining component determines whether there is coordinated motion between objects based on the multidimensional indices.

Claims

1. A system for determining coordinated motion between a first object and a second object, said system comprising:

a velocity data receiving component operable to receive first velocity data associated with the first object at a first time, to receive second velocity data associated with the second object at the first time, to receive third velocity data associated with the first object at a second time and to receive fourth velocity data associated with the second object at the second time;

a position data receiving component operable to receive first position data associated with the first object at the first time, to receive second position data associated with the second object at the first time, to receive third position data associated with the first object at the second time and to receive fourth position data associated with the second object at the second time;

a multidimensional indexing component operable to generate a first multidimensional index related to the first object at the first time, to generate a second multidimensional index related to the second object at the first time, to generate a third multidimensional index related to the first object at the second time and to generate a fourth multidimensional index related to the second object at the second time; and

a determining component operable to determine whether the second object has coordinated motion with respect to the first object based on the first multidimensional index, the second multidimensional index, the third multidimensional index and the fourth multidimensional index.

2. The system of claim 1,

wherein said multidimensional indexing component is operable to generate the first multidimensional index as a data structure associated with the first velocity data, the first position data, the second velocity data and the second position data, and

wherein said multidimensional indexing component is operable to generate the second multidimensional index as a data structure associated with the third velocity data, the third position data, the fourth velocity data and the fourth position data.

3. The system of claim 2,

wherein said determining component is further operable to establish a predetermined threshold,

wherein said determining component is further operable to generate a multidimensional index comparison based on a difference between the first multidimensional index and the second multidimensional index, and

wherein said determining component is operable to determine whether the second object has coordinated motion with respect to the first object based on a threshold comparison of the predetermined threshold and the multidimensional index comparison.

4. The system of claim 3,

wherein said velocity data receiving component is further operable to receive fifth velocity data associated with the first object at a third time and to receive sixth velocity data associated with the second object at the third time,

wherein said position data receiving component is further operable to receive fifth position data associated with the first object at the third time and to receive sixth position data associated with the second object at the third time,

wherein said multidimensional indexing component is further operable to generate a fifth multidimensional index related to the first object at the third time and to generate a sixth multidimensional index related to the second object at the third time, and

wherein said determining component is further operable to determine whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

5. The system of claim 1,

wherein said determining component is further operable to establish a predetermined threshold,

wherein said determining component is further operable to generate a multidimensional index comparison based on a difference between the first multidimensional index and the second multidimensional index, and

wherein said determining component is operable to determine whether the second object has coordinated motion with respect to the first object based on a threshold comparison of the predetermined threshold and the multidimensional index comparison.

6. The system of claim 5,

wherein said velocity data receiving component is further operable to receive fifth velocity data associated with the first object at a third time and to receive sixth velocity data associated with the second object at the third time,

wherein said position data receiving component is further operable to receive fifth position data associated with the first object at the third time and to receive sixth position data associated with the second object at the third time,

wherein said multidimensional indexing component is further operable to generate a fifth multidimensional index related to the first object at the third time and to generate a sixth multidimensional index related to the second object at the third time, and

wherein said determining component is further operable to determine whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

7. The system of claim 1,

wherein said velocity data receiving component is further operable to receive fifth velocity data associated with the first object at a third time and to receive sixth velocity data associated with the second object at the third time,

wherein said position data receiving component is further operable to receive fifth position data associated with the first object at the third time and to receive sixth position data associated with the second object at the third time,

wherein said multidimensional indexing component is further operable to generate a fifth multidimensional index related to the first object at the third time and to generate a sixth multidimensional index related to the second object at the third time, and

wherein said determining component is further operable to determine whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

8. A method for determining coordinated motion between a first object and a second object, said method comprising:

receiving, via a velocity data receiving component, first velocity data associated with the first object at a first time;

receiving, via the velocity data receiving component, second velocity data associated with the second object at the first time;

receiving, via the velocity data receiving component, third velocity data associated with the first object at a second time;

receiving, via the velocity data receiving component, fourth velocity data associated with the second object at the second time;

receiving, via a position data receiving component, first position data associated with the first object at the first time;

receiving, via the position data receiving component, second position data associated with the second object at the first time;

receiving, via the position data receiving component, third position data associated with the first object at the second time;

receiving, via the position data receiving component, fourth position data associated with the second object at the second time;

generating, via a multidimensional indexing component, a first multidimensional index related to the first object at the first time;

generating, via a multidimensional indexing component, a second multidimensional index related to the second object at the first time;

generating, via the multidimensional indexing component, a third multidimensional index related to the first object at the second time;

generating, via a multidimensional indexing component, a fourth multidimensional index related to the second object at the second time; and

determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index, the second multidimensional index, the third multidimensional index and the fourth multidimensional index.

9. The method of claim 8,

wherein said generating, via a multidimensional indexing component, a first multidimensional index relating the first object at the first time with the second object at the first time comprises generating the first multidimensional index as a data structure associated with the first velocity data, the first position data, the second velocity data and the second position data, and

wherein said generating, via the multidimensional indexing component, a second multidimensional index relating the first object at the second time with the second object at the second time comprises generating the second multidimensional index as a data structure associated with the third velocity data, the third position data, the fourth velocity data and the fourth position data.

10. The method of claim 9, further comprising:

establishing, via the determining component, a predetermined threshold; and

generating, via the determining component, a multidimensional index comparison based on a difference between the first multidimensional index and the second multidimensional index, and

wherein said determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object based on a threshold comparison of the predetermined threshold and the multidimensional index comparison.

11. The method of claim 10, further comprising:

receiving, via the velocity data receiving component, fifth velocity data associated with the first object at a third time;

receiving, via the velocity data receiving component, sixth velocity data associated with the second object at the third time;

receiving, via the position data receiving component, fifth position data associated with the first object at the third time;

receiving, via the position data receiving component, sixth position data associated with the second object at the third time;

generating, via the multidimensional indexing component, a fifth multidimensional index related to the first object at the third time; and

generating, via the multidimensional indexing component, a sixth multidimensional index related to the second object at the third time,

wherein said determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

12. The method of claim 8,

establishing, via the determining component, a predetermined threshold;

and

generating, via the determining component, a multidimensional index comparison based on a difference between the first multidimensional index and the second multidimensional index, and

wherein said determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object based on a threshold comparison of the predetermined threshold and the multidimensional index comparison.

13. The method of claim 12,

receiving, via the velocity data receiving component, fifth velocity data associated with the first object at a third time;

receiving, via the velocity data receiving component, sixth velocity data associated with the second object at the third time;

receiving, via the position data receiving component, fifth position data associated with the first object at the third time;

receiving, via the position data receiving component, sixth position data associated with the second object at the third time; and

generating, via the multidimensional indexing component, a fifth multidimensional index related to the first object at the third time; and

generating, via the multidimensional indexing component, a sixth multidimensional index related to the second object at the third time,

wherein said determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

14. The method of claim 8,

receiving, via the velocity data receiving component, fifth velocity data associated with the first object at a third time;

receiving, via the velocity data receiving component, sixth velocity data associated with the second object at the third time;

receiving, via the position data receiving component, fifth position data associated with the first object at the third time;

receiving, via the position data receiving component, sixth position data associated with the second object at the third time; and

generating, via the multidimensional indexing component, a fifth multidimensional index related to the first object at the third time; and

generating, via the multidimensional indexing component, a sixth multidimensional index related to the second object at the third time,

wherein said determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

15. A system comprising:

a processor for;

receiving, via a velocity data receiving component, first velocity data associated with a first object at a first time;

receiving, via the velocity data receiving component, second velocity data associated with a second object at the first time;

receiving, via the velocity data receiving component, third velocity data associated with the first object at a second time;

receiving, via the velocity data receiving component, fourth velocity data associated with the second object at the second time;

receiving, via a position data receiving component, first position data associated with the first object at the first time;

receiving, via the position data receiving component, second position data associated with the second object at the first time;

receiving, via the position data receiving component, third position data associated with the first object at the second time;

receiving, via the position data receiving component, fourth position data associated with the second object at the second time;

generating, via a multidimensional indexing component, a first multidimensional index related to the first object at the first time;

generating, via a multidimensional indexing component, a second multidimensional index related to the second object at the first time;

generating, via the multidimensional indexing component, a third multidimensional index related to the first object at the second time;

generating, via a multidimensional indexing component, a fourth multidimensional index related to the second object at the second time; and

determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index, the second multidimensional index, the third multidimensional index and the fourth multidimensional index.

16. The system of claim 15,

wherein the generating, via a multidimensional indexing component, a first multidimensional index relating the first object at the first time with the second object at the first time comprises generating the first multidimensional index as a data structure associated with the first velocity data, the first position data, the second velocity data and the second position data, and

wherein the generating, via the multidimensional indexing component, a second multidimensional index relating the first object at the second time with the second object at the second time comprises generating the second multidimensional index as a data structure associated with the third velocity data, the third position data, the fourth velocity data and the fourth position data.

17. The system of claim 16, wherein said processor is further for:

establishing, via the determining component, a predetermined threshold; and

generating, via the determining component, a multidimensional index comparison based on a difference between the first multidimensional index and the second multidimensional index, and

wherein the determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object based on a threshold comparison of the predetermined threshold and the multidimensional index comparison.

18. The system of claim 17, wherein said processor is further for:

receiving, via the velocity data receiving component, fifth velocity data associated with the first object at a third time;

receiving, via the velocity data receiving component, sixth velocity data associated with the second object at the third time;

receiving, via the position data receiving component, fifth position data associated with the first object at the third time;

receiving, via the position data receiving component, sixth position data associated with the second object at the third time; and

generating, via the multidimensional indexing component, a fifth multidimensional index related to the first object at the third time; and

generating, via the multidimensional indexing component, a sixth multidimensional index related to the second object at the third time,

wherein the determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.

19. The system of claim 15, said processor is further for:

establishing, via the determining component, a predetermined threshold; and

generating, via the determining component, a multidimensional index comparison based on a difference between the first multidimensional index and the second multidimensional index, and

wherein the determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object based on a threshold comparison of the predetermined threshold and the multidimensional index comparison.

20. The system of claim 15, wherein said processor is further for:

receiving, via the velocity data receiving component, fifth velocity data associated with the first object at a third time;

receiving, via the velocity data receiving component, sixth velocity data associated with the second object at the third time;

receiving, via the position data receiving component, fifth position data associated with the first object at the third time;

receiving, via the position data receiving component, sixth position data associated with the second object at the third time; and

generating, via the multidimensional indexing component, a fifth multidimensional index related to the first object at the third time; and

generating, via the multidimensional indexing component, a sixth multidimensional index related to the second object at the third time,

wherein the determining, via a determining component, whether the second object has coordinated motion with respect to the first object based on the first multidimensional index and the second multidimensional index comprises determining whether the second object has coordinated motion with respect to the first object additionally based on the fifth multidimensional index and the sixth multidimensional index.