4-Dimensional radar signal processing apparatus
AssigneeSmart Radar System, Inc.
InventorsSoung On Kim, Gauvain Jacques Marseille
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Abstract
In a point cloud of a 4-dimensional radar signal, Doppler information of each point is encoded with color information of that point. A 3-dimensional color point cloud is processed to recognize a shape of a target. A one-dimensional array feature vector generated by integration of feature maps extracted by processing 2-dimensional multi-view color point clouds with a convolution neural network (CNN) is processed by a recurrent neural network (RNN) to recognize the shape.
Claims17
An apparatus for processing a 4-dimensional (4D) radar signal, the apparatus recognizing a shape of a target by transmitting and receiving the radar signal to and from the target, the apparatus comprising:
- a radar point cloud input circuit configured to receive a point cloud representing the target, the point cloud comprising a plurality of points, and Doppler values for the respective points of the point cloud;
- a color image generation circuit configured to determine a color value for each point of the plurality of points based on the Doppler values for the respective points to generate a color image of the target;
- and
- a color image recognition circuit configured to process the generated color image of the target to recognize the shape of the target, wherein the generated color image of the target comprises a plurality of color points each corresponding to the plurality of points of the point cloud, and at least two color points among the plurality of color points in the color image of the target have different color values,
- wherein the Doppler values are radial velocity values output from the radar signal,
- wherein the color image recognition circuit is further configured to generate feature maps of the target based on the generated color image, determine the shapes of the target based on the feature maps, and determine a posture of the target based on the shapes of the target.
A method of processing a 4-dimensional (4D) radar signal processed by a radar signal processor, the method recognizing a shape of a target by transmitting and receiving the radar signal to and from the target, the method comprising:
- a radar point cloud input operation of receiving a point cloud representing the target, the point cloud comprising a plurality of points, and Doppler values for the respective points of the point cloud;
- a color image generation operation of determining a color value for each point of the plurality of points based on the Doppler values for the respective points to generate a color image of the target;
- and
- a color image recognition operation of processing the generated color image of the target to recognize the shape of the target, wherein the generated color image of the target comprises a plurality of color points each corresponding to the plurality of points of the point cloud, and at least two color points among the plurality of color points in the color image of the target have different color values,
- wherein the Doppler values are radial velocity values output from the radar signal,
- wherein the color image recognition operation further comprises:
- generating feature maps of the target based on the generated color image, determining the shapes of the target based on the feature maps, and determining a posture of the target based on the shapes of the target.
An apparatus for processing a 4-dimensional (4D) radar signal, the apparatus recognizing a shape of a target by transmitting and receiving the radar signal to and from the target, the apparatus comprising:
- a memory;
- and
- a processor, wherein the memory stores program instructions which cause the processor to perform:
- a radar point cloud input operation of receiving a point cloud representing the target, the point cloud comprising a plurality of points, and Doppler values for the respective points of the point cloud;
- a color image generation operation of determining a color value for each point of the plurality of points based on the Doppler values for the respective points to generate a color image of the target;
- and
- a color image recognition operation of processing the generated color image of the target to recognize the shape of the target, wherein the generated color image of the target comprises a plurality of color points each corresponding to the plurality of points of the point cloud, and at least two color points among the plurality of color points in the color image of the target have different color values,
- wherein the Doppler values are radial velocity values output from the radar signal,
- wherein the color image recognition operation further comprises:
- generating feature maps of the target based on the generated color image, determining the shapes of the target based on the feature maps, and determining a posture of the target based on the shapes of the target.
Dependencies are inferred from the claim text.