Calibrating a single lens camera and a radar for fusing objects detected by radar with objects captured by the single lens camera

An apparatus comprising:

• an interface configured to receive (i) pixel data and (ii) radar data;
• and
• a processor configured to (i) process said pixel data arranged as video frames, (ii) calculate an intrinsic matrix for an image sensor using a calibration method, (iii) generate a plurality of image mapping points to an environment for said image sensor using an image correction method, (iv) generate an image transformation matrix in response to said image mapping points, said intrinsic matrix and depth data, (v) define a valid area in response to said radar data of an object, (vi) generate a plurality of radar mapping points in response to an environment for a radar device using a radar correction method, (vii) generate a mapping function in response to said plurality of radar mapping points and a transfer operation, and (viii) implement a coordinate transformation in response to said image transformation matrix and said mapping function, wherein
• (a) said intrinsic matrix comprises distortion coefficients for a single camera lens,
• (b) said radar mapping points bind radar coordinates to image coordinates,
• (c) said depth data is generated in response to said radar coordinates, and
• (d) said coordinate transformation is configured to (i) transfer radar coordinates to image coordinates in response to said mapping function and (ii) transfer said image coordinates to environment coordinates using said image transformation matrix.