Refining a radar-detected target volume
AssigneeInxpect S.p.A.
InventorsUgo Bertacchini, Michele Belotti Cassa, Rakefet Weidenfeld, Sagi Sheer
Life of this patent
Estimating the term…
Abstract
A radar sensor scans an environment to identify, for each target, a candidate target volume. A camera, fixed to the radar sensor, captures an image of the environment, and runs an image recognition algorithm to identify target boundaries for each target. The radar sensor determines a refined target volume, by selecting and keeping a first part of the candidate target volume located inside the target boundaries and removing a second part of the candidate target volume located outside the target boundaries.
Claims6
A radar system, comprising:
- a radar sensor, configured to scan an environment with a radar signal and to identify, for each target, a candidate target volume based on the radar signal, the candidate target volume being formed as a cloud of target points,
- a camera fixed to the radar sensor, configured to capture an image of the environment, and to run an image recognition algorithm to identify, for each target, target boundaries enclosing a target shape in the image,
- wherein the radar sensor is configured to receive the target boundaries from the camera and to determine a refined target volume, the refined target volume being formed as a cloud of target points,
- wherein each target point of the candidate target volume and the refined target volume has individual coordinates, and
- wherein the refined target volume is construed by determining if the individual coordinates of each target point of the candidate target volume are inside or outside the target boundaries, selecting and keeping all the target points of the candidate target volume inside the target boundaries, as a first part of the candidate target volume located inside the target boundaries, and removing all the target points of the candidate target volume outside the target boundaries, as a second part of the candidate target volume located outside the target boundaries,
- wherein the radar sensor is configured to determine if the target is in a region of interest of the environment, by comparing with the region of interest the refined target volume.
A method for refining a radar-detected target volume of a target in an environment, comprising:
- scanning the environment with a radar signal by a radar sensor and identifying, for each target, a candidate target volume based on the radar signal, the candidate target volume being formed as a cloud of target points,
- capture an image of the environment by a camera fixed to the radar sensor,
- running an image recognition algorithm on the image to identify, for each target, target boundaries enclosing a target shape in the image,
- determining a refined target volume as a cloud of target points, by determining if individual coordinates of each target point of the candidate target volume are inside or outside the target boundaries, selecting and keeping all the target points of the candidate target volume inside the target boundaries, as a first part of the candidate target volume located inside the target boundaries, and removing all the target points of the candidate target volume outside the target boundaries, as a second part of the candidate target volume located outside the target boundaries.
Dependencies are inferred from the claim text.