COLLISION AVOIDANCE METHOD AND SYSTEM USING STEREO VISION AND RADAR SENSOR FUSION
First Claim
1. A computer-implemented method for fusing depth and radar data to estimate at least a position of a threat object relative to a host object, the method being executed by at least one processor, comprising the steps of:
- receiving a plurality of depth values corresponding to the threat object;
receiving radar data corresponding to at least the threat object;
fitting at least one contour to a plurality of contour points corresponding to the plurality of depth values;
identifying a depth closest point on the at least one contour relative to the host object;
selecting a radar target based on information associated with the depth closest point on the at least one contour;
fusing the at least one contour with radar data associated with the selected radar target to produce a fused contour, wherein fusing is based on the depth closest point on the at least one contour; and
estimating at least the position of the threat object relative to the host object based on the fused contour.
1 Assignment
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Accused Products
Abstract
A system and method for fusing depth and radar data to estimate at least a position of a threat object relative to a host object is disclosed. At least one contour is fitted to a plurality of contour points corresponding to the plurality of depth values corresponding to a threat object. A depth closest point is identified on the at least one contour relative to the host object. A radar target is selected based on information associated with the depth closest point on the at least one contour. The at least one contour is fused with radar data associated with the selected radar target based on the depth closest point to produce a fused contour. Advantageously, the position of the threat object relative to the host object is estimated based on the fused contour. More generally, a method is provided for aligns two possibly disparate sets of 3D points.
217 Citations
26 Claims
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1. A computer-implemented method for fusing depth and radar data to estimate at least a position of a threat object relative to a host object, the method being executed by at least one processor, comprising the steps of:
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receiving a plurality of depth values corresponding to the threat object; receiving radar data corresponding to at least the threat object; fitting at least one contour to a plurality of contour points corresponding to the plurality of depth values; identifying a depth closest point on the at least one contour relative to the host object; selecting a radar target based on information associated with the depth closest point on the at least one contour; fusing the at least one contour with radar data associated with the selected radar target to produce a fused contour, wherein fusing is based on the depth closest point on the at least one contour; and estimating at least the position of the threat object relative to the host object based on the fused contour. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for fusing depth and radar data to estimate at least a position of a threat object relative to a host object, wherein a plurality of depth values corresponding to the threat object are received from a depth sensor, and radar data corresponding to at least the threat object is received from a radar sensor, comprising:
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a contour fitting module configured to fit at least one contour to a plurality of contour points corresponding to the plurality of depth values, a depth-radar fusion module configured to; identify a depth closest point on the at least one contour relative to the host object, select a radar target based on information associated with the depth closest point on the at least one contour, and fuse the at least one contour with radar data associated with the selected radar target based on the depth closest point on the at least one contour to produce a fused contour; and a contour tracking module configured to estimate at least the position of the threat object relative to the host object based on the fused contour. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A computer-readable medium storing computer code for fusing depth and radar data to estimate at least a position of a threat object relative to a host object, wherein the computer code comprises:
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code for receiving a plurality of depth values corresponding to the threat object; code for receiving radar data corresponding to at least the threat object; code for fitting at least one contour to a plurality of contour points corresponding to the plurality of depth values; code for identifying a depth closest point on the at least one contour relative to the host object; code for selecting a radar target based on information associated with the depth closest point on the at least one contour; code for fusing the at least one contour with radar data associated with the selected radar target based on the depth closest point on the at least one contour to produce a fused contour; and code for estimating at least the position of the threat object relative to the host object based on the fused contour. - View Dependent Claims (19, 20)
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21. A computer-implemented method for estimating at least a position of a threat object relative to a host object, the method being executed by at least one processor, comprising the steps of:
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receiving a first set of one or more 3D points corresponding to the threat object; receiving a second set of one or more 3D points corresponding to at least the threat object; selecting a first reference point in the first set; selecting a second reference point in the second set; performing a weighted average of a location of the first reference point and a location of the second reference point to form a location of a third fused point; computing a 3D translation of the location of the first reference point to the location of the third fused point; translating the first set of one or more 3D points according to the computed 3D translation; and estimating at least the position of the threat object relative to the host object based on the translated first set of one or more 3D points. - View Dependent Claims (22, 23, 24, 25)
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26. A computer-readable medium storing computer code for estimating at least a position of a threat object relative to a host object, the method being executed by at least one processor, wherein the computer code comprises:
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code for receiving a first set of one or more 3D points corresponding to the threat object; code for receiving a second set of one or more 3D points corresponding to at least the threat object; code for selecting a first reference point in the first set; code for selecting a second reference point in the second set; code for performing a weighted average of a location of the first reference point and a location of the second reference point to form a location of a third fused point; code for computing a 3D translation of the location of the first reference point to the location of the third fused point; code for translating the first set of one or more 3D points according to the computed 3D translation; and code for estimating at least the position of the threat object relative to the host object based on the translated first set of one or more 3D points.
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Specification