ROADWAY SENSING SYSTEMS
First Claim
1. An apparatus to detect or track objects at a roadway, the apparatus comprising:
- a plurality of sensors, comprising a first sensor that is a radar sensor having a first field of view that is positionable at a roadway and a second sensor that is a machine vision sensor having a second field of view that is positionable at the roadway, wherein the first and second fields of view at least partially overlap in a common field of view over a portion of the roadway; and
a controller configured to combine sensor data streams for at least a portion of the common field of view from the first and second sensors to detect or track objects.
2 Assignments
0 Petitions
Accused Products
Abstract
A number of roadway sensing systems are described herein. An example of such is an apparatus to detect and/or track objects at a roadway with a plurality of sensors. The plurality of sensors can include a first sensor that is a radar sensor having a first field of view that is positionable at the roadway and a second sensor that is a machine vision sensor having a second field of view that is positionable at the roadway, where the first and second fields of view at least partially overlap in a common field of view over a portion of the roadway. The example system includes a controller configured to combine sensor data streams for at least a portion of the common field of view from the first and second sensors to detect and/or track the objects.
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Citations
20 Claims
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1. An apparatus to detect or track objects at a roadway, the apparatus comprising:
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a plurality of sensors, comprising a first sensor that is a radar sensor having a first field of view that is positionable at a roadway and a second sensor that is a machine vision sensor having a second field of view that is positionable at the roadway, wherein the first and second fields of view at least partially overlap in a common field of view over a portion of the roadway; and a controller configured to combine sensor data streams for at least a portion of the common field of view from the first and second sensors to detect or track objects. - View Dependent Claims (2, 3, 4, 5)
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6. A system to detect or track objects in a roadway area, comprising:
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a radar sensor having a first field of view as a first sensing modality that is positionable at a roadway; a first machine vision sensor having a second field of view as a second sensing modality that is positionable at the roadway; and a communication device configured to communicate data from the first and second sensors to a processing resource. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A non-transitory machine-readable medium storing instructions executable by a processing resource to detect or track objects in a roadway area, the instructions executable to:
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receive data input from a first discrete sensor type having a first sensor coordinate system; receive data input from a second discrete sensor type having a second sensor coordinate system; assign a time stamp from a common clock to each of a number of putative points of interest in the data input from the first discrete sensor type and the data input from the second discrete sensor type; determine a location and motion vector for each of the number of putative points of interest in the data input from the first discrete sensor type and the data input from the second discrete sensor type; match multiple pairs of the putative points of interest in the data input from the first discrete sensor type and the data input from the second discrete sensor type based upon similarity of the assigned time stamps and the location and motion vectors to determine multiple matched points of interest; and compute a two-dimensional homography between the first sensor coordinate system and the second sensor coordinate system based on the multiple matched points of interest. - View Dependent Claims (17, 18, 19, 20)
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Specification