Systems for estimating three-dimensional trajectories of physical objects

A system comprising:

• a memory component;
• and
• a processing device coupled to the memory component, the processing device to perform operations comprising:
• transmitting millimeter wavelength radio waves directed within a physical environment using beamforming that reflect from physical objects in the physical environment
• receiving radar data describing the millimeter wavelength radio waves;
• and
• generating a cloud of three-dimensional points based on the radar data, each of the three-dimensional points corresponding to a reflected millimeter wavelength radio wave within a sliding temporal window and removing three-dimensional points corresponding to reflected millimeter wavelength radio waves that have arrival times greater than a threshold arrival time;
• determining a position and a velocity for each of the three-dimensional points in the cloud of three-dimensional points;
• removing additional three-dimensional points having velocities below a threshold velocity from the three-dimensional points within the cloud;
• grouping the three-dimensional points into at least one group based on Euclidean distances between the three-dimensional points within the cloud;
• and
• generating, for display in a user interface of a display device, an indication of a three-dimensional trajectory of a physical object corresponding to the at least one group, displayed relative to a current position of the physical object, using a Kalman filter to track a position and a velocity of a centroid of the at least one group in three-dimensions.

A non-transitory computer-readable storage medium storing executable instructions, which when executed by a processing device, cause the processing device to perform operations comprising:

• transmitting millimeter wavelength radio waves directed within a physical environment using beamforming that reflect from physical objects in the physical environment
• receiving radar data describing the millimeter wavelength radio waves;
• generating a cloud of three-dimensional points based on the radar data, each of the three-dimensional points corresponding to a reflected millimeter wavelength radio wave within a sliding temporal window and removing three-dimensional points corresponding to reflected millimeter wavelength radio waves that have arrival times greater than a threshold arrival time;
• determining a position and a velocity for each of the three-dimensional points in the cloud of three-dimensional points;
• removing additional three-dimensional points having velocities below a threshold velocity from the three-dimensional points within the cloud;
• grouping the three-dimensional points into at least one group based on Euclidean distances between the three-dimensional points within the cloud, the Euclidean distances computed in an x-plane, a y-plane, and a z-plane;
• and
• generating, for display in a user interface of a display device, an indication of a three-dimensional trajectory of a physical object corresponding to the at least one group, displayed relative to a current position of the physical object, using a Kalman filter to track a velocity and a position of a centroid of the at least one group in the x-plane, the y-plane, and the z-plane.