JP2022017330A - レーダデータ及び撮像装置データを使用して物体を追跡するための装置、システム、及び方法 - Google Patents
レーダデータ及び撮像装置データを使用して物体を追跡するための装置、システム、及び方法 Download PDFInfo
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- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
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Abstract
Description
Claims (16)
- 物体の動きを追跡するシステムであって、
レーダ装置であって、第1の視野を有しており、前記レーダ装置は、前記第1の視野内で動く物体の前記レーダ装置からの間隔を示す距離、及び、動く物体と前記レーダ装置との間の間隔の時間変化率を示す距離レートのうちの1つに対応するレーダデータを生成するものであるレーダ装置と、
撮像装置であって、前記第1の視野と少なくとも部分的に重複視野内で重複する第2の視野を有しており、前記撮像装置は、物体が前記第2の視野内にある場合に、前記撮像装置に対する物体の角度位置を少なくとも1つの次元で測定する撮像装置データを生成するものである撮像装置と、
プロセッサであって、前記プロセッサは、物体が前記重複視野内にある場合に、前記物体の軌跡を少なくとも2次元で特定するために、前記撮像装置データと前記レーダデータとを組み合わせ、前記物体の角度位置は、前記撮像装置からのデータのみを使用して決定されるものであるプロセッサと、
を備えることを特徴とするシステム。 - 請求項1に記載のシステムであって、
前記レーダ装置は1次元レーダであることを特徴とするシステム。 - 請求項1に記載のシステムであって、
前記プロセッサは、前記撮像装置に対する前記レーダ装置の位置を示す離隔ベクトルに対応するデータを含むことを特徴とするシステム。 - 請求項3に記載のシステムであって、
前記プロセッサは前記撮像装置から前記物体までの単位ベクトルを計算し、前記単位ベクトル、前記レーダデータ、及び前記離隔ベクトルに基づいて、前記プロセッサは、前記物体の位置を3次元で計算することを特徴とするシステム。 - 請求項4に記載のシステムであって、
前記プロセッサは前記第2の視野内の基準点に基づいてフィールド基準の座標系を定義し、前記物体の位置を3次元で前記フィールド基準の座標系に変換及び回転させることを特徴とするシステム。 - 請求項1に記載のシステムであって、
前記物体が発見されるべき位置を予測する事前情報を記憶するメモリを更に含むことを特徴とするシステム。 - 請求項6に記載のシステムであって、
前記プロセッサは、前記事前情報を使用して、前記物体が現れることが期待される注目領域を、前記第1及び第2の視野のうちの1つの縮小された部分として定義することを特徴とするシステム。 - 請求項6に記載のシステムであって、
前記事前情報は、前記物体の過去の位置、及び前記物体の過去の速度、及び前記物体の過去の距離のうちの少なくとも1つに関する情報を含むことを特徴とするシステム。 - 請求項6に記載のシステムであって、
前記物体はスポーツボールであり、前記事前情報は、前記ボールがプレイされる可能性が高い場所に関することを特徴とするシステム。 - 請求項5に記載のシステムであって、
前記物体はスポーツボールであり、前記ターゲット空間はプレイフィールドを含み、前記基準点は、前記プレイフィールド上でプレイされるゲームのプレイルールにとって重要な位置を含むことを特徴とするシステム。 - 請求項1に記載のシステムであって、
前記レーダ装置はドップラーレーダであることを特徴とするシステム。 - 請求項1に記載のシステムであって、
前記プロセッサは、前記距離の初期値と、前記レーダデータから決定された前記距離レートの時間にわたる積分と、に基づいて、前記レーダ装置からの距離を計算することを特徴とするシステム。 - 請求項12に記載のシステムであって、
前記距離の初期値は、事前の情報に基づくことを特徴とするシステム。 - 物体の動きを追跡する方法であって、
レーダ装置を、第1の視野が、物体が移動するターゲット空間の少なくとも一部をカバーするように向けられるように位置させることであって、レーダ追跡装置は、前記第1の視野内で動く物体の前記レーダ装置からの間隔を示す距離、及び、動く物体と前記レーダ装置との間の間隔の時間変化率を示す距離レートのうち1つに対応するレーダデータを生成するものであることと、
撮像装置を、前記撮像装置の第2の視野がターゲット空間の所望の部分において前記第1の視野と少なくとも部分的に重複するように向けられるように位置させることであって、前記撮像装置は、物体が前記第2の視野内にある場合に、前記撮像装置に対する物体の角度位置を少なくとも2次元で測定する撮像装置データを生成するものであることと、
物体が重複視野内にある場合に、前記物体の軌跡を少なくとも2次元で特定するために前記撮像装置データと前記レーダデータとを組み合わせることであって、前記物体の角度位置は、前記撮像装置からのデータのみを使用して決定されるものであることと、
を含むことを特徴とする方法。 - 物体の動きを追跡するためのシステムであって、
レーダ装置であって、第1の視野を有しており、前記レーダ装置は、前記第1の視野内の動く物体の前記レーダ装置からの間隔に対応する距離、及び、動く物体と前記レーダ装置との間の間隔の時間変化率を示す距離レートのうちの1つを示すレーダデータを生成するものであるレーダ装置と、
撮像装置であって、重複視野内において前記第1の視野と少なくとも部分的に重複する第2の視野を有しており、前記撮像装置は、物体が前記第2の視野内にある場合に、前記撮像装置に対する物体の少なくとも1つの次元における角度位置を測定する撮像装置データを生成し、前記撮像装置及び前記レーダ装置のうちの少なくとも一方は前記撮像装置及び前記レーダ装置の他方に対して移動可能なものである撮像装置と、
メモリであって、前記撮像装置に対する前記レーダ装置の位置を示す離隔ベクトルに対応するデータを含むメモリと、
プロセッサであって、前記撮像装置から物体までの単位ベクトルを計算し、前記プロセッサは、前記単位ベクトル、前記レーダデータ、及び前記離隔ベクトルに基づいて、少なくとも2次元における前記物体の位置を計算し、前記プロセッサは、前記物体の軌跡を少なくとも2次元で特定するために、前記撮像装置からのデータのみに基づいて前記物体の角度位置を決定するものであるプロセッサと、
を含むことを特徴とするシステム。 - 請求項15に記載のシステムであって、
前記プロセッサは、前記撮像装置に対する前記レーダ装置の位置における前記物体の追跡中に生じる変化を反映するように前記離隔ベクトルを調整することを特徴とするシステム。
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US15/369,372 US10989791B2 (en) | 2016-12-05 | 2016-12-05 | Device, system, and method for tracking an object using radar data and imager data |
US15/369,372 | 2016-12-05 | ||
JP2019530039A JP2020515810A (ja) | 2016-12-05 | 2017-12-04 | レーダデータ及び撮像装置データを使用して物体を追跡するための装置、システム、及び方法 |
PCT/IB2017/057616 WO2018104844A1 (en) | 2016-12-05 | 2017-12-04 | Device, system, and method for tracking an object using radar data and imager data |
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