Three dimensional object tracking using combination of radar data and two dimensional image data

A system comprising:

• a camera;
• a radar device;
• and
• one or more computers configured to
• determine an optical model of an object in flight using two dimensional image data obtained from a camera,
• determine a radar model of the object in flight using radar data obtained from a radar device, wherein the one or more computers are configured to determine the radar model by being configured to check for outliers using a multiple of a standard deviation of radar readings being added to the radar model,
• adjust the multiple of the standard deviation to balance rejecting inliers and accepting outliers,
• connect the optical model and the radar model in time, and
• produce three dimensional location information of the object in flight in three dimensional space using the optical model and the radar model connected in time.