System and method for tracking objects using a detection system

A host mobile machine having a system for tracking objects detected in the path of the host mobile machine, comprising:

• a sensor mounted on said host mobile machine and configured to detect objects within a field of view and to generate a frame of datapoints, wherein said datapoints represent the position relative to said sensor of one or more objects detected by said sensor;
• and
• a detection processing system coupled to said sensor, wherein said detection processing system comprises a processor configured to convert said datapoints into datapoints represented in global coordinates and map said converted datapoints into a next frame of datapoints to create a new frame of datapoints;
• wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames, said new frame of datapoints indicative of the position of said objects relative to said sensor.

A mobile machine having a tracking system for tracking objects detected in the path of the mobile machine comprising:

• a sensor mounted on said mobile machine and configured to detect objects with a field of view and to generate a frame of datapoints, wherein said datapoints represent the position relative to said sensor of one or more objects detected by said sensor;
• and
• a detection processing system coupled to said sensor, wherein said detection processing system comprises a processor configured to convert said datapoints into datapoints represented in global coordinates and map said converted datapoints into a next frame of datapoints to create a new frame of datapoints, means for blob coloring said new frame of datapoints to define objects, and means for making a list of said defined objects;
• and;
• a digital signal processor configured to receive said frame of datapoints from said sensor, to convert said datapoints into a power vs. range representation, and to threshold said received datapoints;
• wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames;
• and
• wherein said means for blob coloring comprises:
• means for scanning said new frame to located a bin having a datapoints having a non-zero power value;
• means for labeling said located bin with a new label where said located bin is not adjacent to a previously labeled bin;
• and
• means for labeling said located bin with the same label as was assigned to said previously-labeled bin where said located bin is adjacent to said previously labeled bin.