Radar-vision fusion for target velocity estimation
AssigneeGM Global Technology Operations LLC
InventorsDan Levi, Shuqing Zeng, Igal Bilik
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Abstract
A method of determining velocity of a target and a fusion system on a moving platform to determine the velocity of the target are described. The method includes obtaining, using a radar system, position and radial velocity of the target relative to the moving platform, obtaining, using a vision system, optical flow vectors based on motion of the target relative to the moving platform, and estimating a dominant motion vector of the target based on the optical flow vectors. The method also includes processing the position, the radial velocity, and the dominant motion vector and determining the velocity of the target in two dimensions.
Claims20
A method of determining velocity of a target from a moving platform, the method comprising:
- obtaining, using a radar system, position and radial velocity of the target relative to the moving platform;
- obtaining, using a vision system, optical flow vectors based on motion of the target relative to the moving platform;
- estimating a dominant motion vector of the target based on the optical flow vectors;
- processing, using a processor, the position, the radial velocity, and the dominant motion vector and determining the velocity of the target in two dimensions;
- and
- performing, at the moving platform, evasive action based on assessment of a threat of collision posed by the target using the velocity of the target in the two dimensions.
A fusion system on a moving platform to determine velocity of a target, the fusion system comprising:
- a radar system configured to obtain position and radial velocity of the target relative to the moving platform;
- a vision system configured to obtain optical flow vectors based on motion of the target relative to the moving platform and estimate a dominant motion vector based on the optical flow vectors;
- and
- a processor configured to determine the velocity of the target based on the position, the radial velocity, and the dominant motion vector, and to assess a threat of a collision with the target using the velocity of the target, wherein evasive action is taken at the moving platform based on the assessment of the threat.
Dependencies are inferred from the claim text.