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US 2016/0109566 A1Published application
Camera Assisted Tracking of Objects in a Radar System
AssigneeTexas Instruments Incorporated
InventorsYucheng Liu, Vikram VijayanBabu Appia, Muhammad Zubair Ikram
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Abstract
Camera-assisted tracking of point objects in a radar system is provided. An extended Kalman filter framework based on both radar and camera observations is used to track point objects detected in frames of radar signal data. This framework provides a minimum mean square estimation of the current state of a point object based on previous and current observations from both frames of radar signals and corresponding camera images.
Claims20
A method for camera-assisted tracking of point objects in a radar system, the method comprising:
- receiving spherical coordinates of an estimated location of a point object detected in a frame of radar signals, a range rate of the point object, and variances for the spherical coordinates and the range rate;
- receiving an image captured by a camera in the radar system, the image corresponding to the frame of radar signals;
- determining that the detected point object is currently being tracked;
- determining whether or not the detected point object is within view of the camera based on the image and an estimated three dimensional (3D) location of the detected point object;
- and
- updating tracking data for the detected point object when the detected point object is within view of the camera, the updating based on an estimated two dimensional (2D) pixel location of the detected point object in the image and the estimated 3D location of the detected point object.
3 more elements
A radar system, comprising:
- a processing unit;
- and
- a memory storing instructions that, when executed by the processing unit, cause the radar system to:
- receive spherical coordinates of an estimated location of a point object detected in a frame of radar signals, a range rate of the point object, variances for the spherical coordinates and the range rate;
- receive an image captured by a camera in the radar system, the image corresponding to the frame of radar signals;
- determine that the detected point object is currently being tracked;
- determine whether or not the detected point object is within view of the camera based on the image and an estimated three dimensional (3D) location of the detected point object;
- and
- update tracking data for the detected point object when the detected point object is within view of the camera, the update being based on an estimated two dimensional (2D) pixel location of the detected point object in the image and the estimated 3D location of the detected point object.
6 more elements
Dependencies are inferred from the claim text.