Systems and methods for using time of flight measurements for imaging target objects
First Claim
1. An imaging system comprising:
- a plurality of bistatic radar sensors configured to transmit electromagnetic waves towards a surface of a target object and to measure the electromagnetic waves reflected from the surface of the target object; and
a computing device comprising at least one processor and memory configured to;
determine time of flight (TOF) estimates based on the measured electromagnetic waves;
draw, within an image model for the target object, a plurality of candidate surface portions of the surface of the target object based on the TOF estimates and predetermined positions of the bistatic radar sensors;
assign weights to each of the candidate surface portions;
determine points in the image model where the candidate surface portions meet with a predetermined probability based on the weights; and
define an estimated surface of the target object in the image model based on the determined points,wherein the computing device, for assigning the weights to each of the candidate surface portions, is configured to;
place a plurality of test ellipses in the image model, each test ellipse being tangent to a different portion of the candidate surface portions;
calculate TOFs from predetermined positions of the bistatic radar sensors; and
determine distances between the calculated TOFs and the determined TOF estimates,wherein the weights are assigned based on the determined distances, higher weights being assigned to closer distances.
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Accused Products
Abstract
An imaging system as disclosed can include multiple bistatic radar sensors configured to transmit electromagnetic waves towards a surface of a target object and configured to measure the electromagnetic waves reflected from the surface of the target object. The imaging system includes a computing device that determines time of flight estimates based on the measured waves. The computing device can draw, within an image model for the target object, multiple candidate surface portions of the surface of the target object based on the TOF estimates and predetermined positions of the bistatic radar sensors. Further, the computing device can assign weights to the candidate surface portions. The computing device can determine points where the candidate surface portions meet with a predetermined probability based on the weights. The computing device is configured to define an estimated surface of the target object in the image model based on the determined points.
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Citations
23 Claims
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1. An imaging system comprising:
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a plurality of bistatic radar sensors configured to transmit electromagnetic waves towards a surface of a target object and to measure the electromagnetic waves reflected from the surface of the target object; and a computing device comprising at least one processor and memory configured to; determine time of flight (TOF) estimates based on the measured electromagnetic waves; draw, within an image model for the target object, a plurality of candidate surface portions of the surface of the target object based on the TOF estimates and predetermined positions of the bistatic radar sensors; assign weights to each of the candidate surface portions; determine points in the image model where the candidate surface portions meet with a predetermined probability based on the weights; and define an estimated surface of the target object in the image model based on the determined points, wherein the computing device, for assigning the weights to each of the candidate surface portions, is configured to; place a plurality of test ellipses in the image model, each test ellipse being tangent to a different portion of the candidate surface portions; calculate TOFs from predetermined positions of the bistatic radar sensors; and determine distances between the calculated TOFs and the determined TOF estimates, wherein the weights are assigned based on the determined distances, higher weights being assigned to closer distances. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method comprising:
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transmitting electromagnetic waves towards a surface of a target object; measuring the electromagnetic waves reflected from the surface of the target object; determining time of flight (TOF) estimates based on the measured electromagnetic waves; drawing, within an image model for the target object, a plurality of candidate surface portions of the surface of the target object based on the TOF estimates and predetermined positions of the bistatic radar sensors; assigning weights to each of the candidate surface portions; determining points in the image model where the candidate surface portions meet with a predetermined probability based on the weights; and defining an estimated surface of the target object in the image model based on the determined points; placing a plurality of test ellipses in the image model, each test ellipse being tangent to a different portion of the candidate surface portions; calculating TOFs from predetermined positions of bistatic radar sensors; and determining distances between the calculated TOFs and the determined TOF estimates, wherein the weights are assigned based on the determined distances, higher weights being assigned to closer distances. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
wherein the computing device is configured to; determining points in the image model where the candidate ellipses meet with a predetermined probability based on the weights; and defining an estimated surface of the target object in the image model based on the determined points where the candidate ellipses meet with the predetermined probability.
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22. The method of claim 12, wherein the test ellipse is a circle.
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23. The method of claim 12, further comprising displaying a representation of the estimated surface of the target object.
Specification