Velocity segmentation of camera image pixels using radar doppler measurements

Abstract

A vehicle includes a camera configured to generate an image in a path of the vehicle. A radar sensor is configured to transmit radio frequency (RF) signals in the path of the vehicle and to receive radar returns. A velocity segmentation module is configured to generate radial velocities for the radar returns, group the radar returns into R clustered radar returns, where R is an integer greater than zero, project the R clustered radar returns onto the image, identify R moving objects corresponding to the R clustered radar returns by segmenting R sets of image pixels with similar image features as pixels corresponding to the R clustered radar returns, respectively, and calculate R radial velocities for the R clustered radar returns, respectively, in response to radial velocities of the R clustered radar returns for each of the R moving objects, respectively.

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