Method and system for detecting an object using a composite evidence grid
First Claim
1. A method of detecting an object, the method comprising:
- transmitting a laser transmission over a first frequency range in a first zone;
receiving a reflection of the laser transmission from an object in the first zone to determine laser observed data associated with points on the object;
processing the laser observed data to form a later occupancy grid for the first zone;
transmitting a radar transmission over a second frequency range in a second zone that overlaps with the first zone;
receiving a reflection of the radar transmission from an object in the second zone to determine radar observed data associated with points on the object;
processing the radar observed data to form a radar occupancy grid for the second zone; and
evaluating the radar occupancy grid and the laser occupancy grid to produce a composite evidence grid for at least an overlapping region defined by the first zone and the second zone.
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Accused Products
Abstract
A method and system for detecting an object uses a composite evidence grid based on dual frequency sensing. A source transmits a laser transmission in a first zone. A detector receives a reflection of the laser transmission from an object in the first zone to determine laser observed data associated with points on the object. A transmitter transmits a radar transmission in a second zone that overlaps with the first zone. A receiver receives a reflection of the radar transmission from an object in the second zone to determine radar observed data associated with points on the object. The laser observed data is processed to form a laser occupancy grid for the first zone and the radar observed data is processed to form a radar occupancy grid for the second zone. An evaluator evaluates the radar occupancy grid and the laser occupancy grid to produce a composite evidence grid for at least an overlapping region defined by the first zone and the second zone.
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Citations
23 Claims
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1. A method of detecting an object, the method comprising:
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transmitting a laser transmission over a first frequency range in a first zone; receiving a reflection of the laser transmission from an object in the first zone to determine laser observed data associated with points on the object; processing the laser observed data to form a later occupancy grid for the first zone; transmitting a radar transmission over a second frequency range in a second zone that overlaps with the first zone; receiving a reflection of the radar transmission from an object in the second zone to determine radar observed data associated with points on the object; processing the radar observed data to form a radar occupancy grid for the second zone; and evaluating the radar occupancy grid and the laser occupancy grid to produce a composite evidence grid for at least an overlapping region defined by the first zone and the second zone. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for detecting an object, the system comprising:
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a source for transmitting a laser transmission in a first zone; a detector for receiving a reflection of the laser transmission from an object in the first zone to determine laser observed data associated with points on the object; a transmitter for transmitting a radar transmission in a second zone that overlaps with the first zone; a receiver for receiving a reflection of the radar transmission from an object in the second zone to determine radar observed data associated with points on the object; a data processing system for processing the determined laser observed data to form a laser occupancy grid for the first zone and for processing the determined radar observed data to form a radar occupancy grid for the second zone; and an evaluator for evaluating the radar occupancy grid and the laser occupancy grid to produce a composite evidence grid for at least an overlapping region defined by the first zone and the second zone. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method of detecting an object, the method comprising:
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transmitting a laser transmission at a known angular orientation over a first frequency range in a first zone; receiving a reflection of the laser transmission from an object in the first zone to determine laser range data associated with points on the object for known angular orientation data; processing the laser observed data to form a laser occupancy grid for the first zone; transmitting a radar transmission at a known angular position over a second frequency range in a second zone that overlaps with the first zone; receiving a reflection of the radar transmission from an object in the second zone to determine radar range data associated with points on the object for the known angular position data; processing the radar range data and corresponding known angular position data to form a radar occupancy grid for the second tone; and evaluating the radar occupancy grid and the laser occupancy grid to produce a composite evidence grid for at least an overlapping region defined by the first zone and the second zone. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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Specification