Method for the observation of a number of objects
First Claim
1. A method of observing a multitude of objects which move in a space monitored by several sensors wherein:
- the objects are detected by the sensors and are followed under continuing actualization by sensor tracks that supply object data;
from the available sensor tracks, those sensor tracks which originate from different sensors and which belong to the same object, are automatically associated with a system track;
an association of a sensor track with at least one system track is effected each time when a decision concerning a non-belonging to the system track cannot be made with certainty;
in each system track all associated sensor tracks are held;
one of the sensor tracks is designated as the leading sensor track (primary track) and the other sensor tracks are designated as subordinated sensor tracks; and
with the leading sensor track, at least the kinematics of the system tracks are determined.
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Accused Products
Abstract
The invention relates to a method for the observation of a number of objects, which move in a space monitored by a number of sensors, are recorded by the sensors and followed with continuous updating of at least the sensor track defining the kinematics of the object, whereby those provided sensor tracks amongst the sensor tracks from various sensors, which correspond to the same object are automatically assigned to a system track. In order to improve the method with regard to an efficient assignment of the sensor tracks, which is reliable, has a reduced error probability and runs essentially automatically, an assignment of a sensor track to at least one system track is always carried out if a decision on the non-correspondence to the system track can not be securely taken. Subsequently, assigned sensor tracks are continuously monitored for the continued assignment thereof to the assigned system track and on determining the non-correspondence thereof, are removed from said system track. For each system track whose correspondence to a system track is securely excluded, a new system track is generated. The determination of non-correspondence is irreversible.
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Citations
20 Claims
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1. A method of observing a multitude of objects which move in a space monitored by several sensors wherein:
- the objects are detected by the sensors and are followed under continuing actualization by sensor tracks that supply object data;
from the available sensor tracks, those sensor tracks which originate from different sensors and which belong to the same object, are automatically associated with a system track;
an association of a sensor track with at least one system track is effected each time when a decision concerning a non-belonging to the system track cannot be made with certainty;
in each system track all associated sensor tracks are held;
one of the sensor tracks is designated as the leading sensor track (primary track) and the other sensor tracks are designated as subordinated sensor tracks; and
with the leading sensor track, at least the kinematics of the system tracks are determined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
- the objects are detected by the sensors and are followed under continuing actualization by sensor tracks that supply object data;
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11. A method for observing a plurality of objects comprising:
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a) detecting and tracking a plurality of objects by sensors in a space monitored by several sensors; b) using object data from acquired objects detected by the sensors to form sensor tracks, with the sensor tracks being actualized or updated at certain intervals; c) combining sensor tracks from various sensors into system tracks, which represent the respective objects; d) considering all sensor tracks to belong and assigning the sensor tracts to one or several system tracks and to remain assigned to these system tracks, and in each system track all assigned sensor tracks are held as long as a decision of non-belonging to the object, represented by the respective system track, cannot be made with certainty; e) comparing the actualized sensor tracks only to the system tracks to which they are assigned in order to monitor the continued assignment, and if a non-belonging is determined, separating the sensor track from this system track; f) forming a new system track with each sensor track for which a non-belonging has been determined; and
,g) the decision of non-belonging is not revised. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification