WO2022049337A1 - Procédé et dispositif de suivi adaptatif d'un objet basés sur la technologie lidar - Google Patents
Procédé et dispositif de suivi adaptatif d'un objet basés sur la technologie lidar Download PDFInfo
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- WO2022049337A1 WO2022049337A1 PCT/FR2021/051486 FR2021051486W WO2022049337A1 WO 2022049337 A1 WO2022049337 A1 WO 2022049337A1 FR 2021051486 W FR2021051486 W FR 2021051486W WO 2022049337 A1 WO2022049337 A1 WO 2022049337A1
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- tracking
- laser beam
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Definitions
- the invention relates to the field of object tracking.
- the subject of the invention is more particularly a method for tracking objects, and a device for tracking objects.
- object tracking that is both functional over a relatively wide distance range (for example from a few tens of meters to 1 kilometer in the context of drone tracking) and which is compatible with the high relative speeds that such objects can present.
- Tracking whether based on passive imagery or active tracking, has the advantage of being able to detect objects to be tracked when they appear in the "view" field of the tracking device and are therefore particularly suitable for identification and detection of an object to be tracked.
- this type of tracking has the disadvantage of being generally suitable for tracking over a relatively short distance range directly related to the focal length used, for optical cameras, at a low angular resolution with regard to RADARs. .
- tracking distance range is meant, here and in the rest of this document, the range of distances between the object to be tracked and the tracking device, for example the camera or the LIDAR device, on which the tracking device is able to track the object.
- some active tracking may be based on the emissivity of objects to be tracked.
- some objects to be tracked have particular emissivity properties, for example in the field of radio waves (drone communicating with the remote control on WIFI band or aeronautical radiocommunication for airplanes).
- these tracking methods being based on waves whose wavelength is similar to that of radar RADAR systems, they have the same drawbacks and they therefore do not make it possible to provide tracking with a sufficiently high angular resolution for certain applications. .
- the invention aims to remedy these drawbacks and thus aims to provide a method for tracking objects which is able to track an object over a relatively large distance range.
- the invention relates for this purpose to a method for tracking objects based on the use of a LIDAR device, the LIDAR device comprising: a laser source configured to emit a probe laser beam, and a system for moving the probe laser beam configured to change the orientation of the probe laser beam, the method comprising the following steps:
- the object tracking step C comprising the sub-steps of:
- Such a method makes it possible to provide active tracking of the object to be tracked with a tracking pattern which is adapted to the distance and to the shape of the object, this thanks to the dependence of at least one angular parameter of the pattern of tracking the distance between the object and the LIDAR device. Since the tracking pattern is thus adapted regardless of the distance between the object and the LIDAR apparatus, it is possible to obtain tracking over a large distance range compared to the methods of the prior art. It will also be noted that since the pattern can be relatively simple, according to the principle of active tracking, such a method is compatible with high-frequency tracking and can therefore be used to track objects with a relatively high speed of movement.
- steps C1 to C3 are reproduced successively and iteratively, the estimated position of the object used in step C1 being either, for the first iteration, the position estimate of the object obtained in step B, i.e., for an iteration n, where n is an integer greater than or equal to 2, the position of the object determined in step C3 of iteration n1. In this way, it is possible to provide continuous tracking of the object to be tracked.
- a direction of movement of the object is further determined from the estimated position used in sub-step C1 and from the position determined in sub-step C1.
- -step of C3 and in which, during the implementation of step C, for an iteration n, n being an integer greater than or equal to 2, in the substep C1 of determining the tracking pattern, at least another parameter of the tracking pattern is further determined from the estimated displacement direction of the object determined during step C3 of iteration n-1.
- the tracking pattern is of the parametric curve type and the at least one angular parameter is an angular parameter of the parametric curve.
- an estimated displacement speed of the object can also be determined from the estimated position used in sub-step C1 and from the position determined at the sub-step of C3, and in which, during the implementation of step C, for an iteration n, n being an integer greater than or equal to 2, in the sub-step C1 of determining the tracking pattern, the at least one other parameter of the tracking pattern is also determined from the estimated displacement speed of the object determined during step C3 of iteration n-1.
- an estimated acceleration of the object can also be determined, during the implementation of step C, for an iteration n, n being an integer greater than or equal to 2, in the sub-step C1 of determining the tracking pattern, the at least one other parameter of the tracking pattern being further determined from the estimated acceleration.
- the at least one other pattern parameter may include a pattern type selected from a group of predefined patterns, the pattern type being selected from said group of predefined patterns each corresponding to a respective type of parametric curves, the type of pattern being selected from said group of predefined patterns as a function of the estimated direction of movement and/or the estimated speed of movement if the latter is available.
- step A of identifying the object to be tracked and of step B of estimating the position of the object at least one estimated dimension of the object according to a perpendicular plane containing the estimated position of the object and perpendicular to a line passing through the estimated position of the object and the position of the LIDAR device, and in which, during the substep C1 of determining the tracking pattern, the at least one angular parameter of the tracking pattern is further determined from the estimated dimension.
- a device according to the invention can easily be adapted to allow tracking of objects of a few tens of centimeters, such as certain small-sized drones, and much more massive objects, such as airplanes.
- Step B of estimating a position of the object can comprise the following sub-steps:
- the identification pattern makes it possible to provide an estimate of the size of the object and to follow it in a minimum time, since it is not necessary to make a complete imaging of the object or of the scene.
- the identification pattern may correspond to a parametric curve of a type other than that of the tracking pattern determined in step C1.
- Step B of estimating a position of the object can comprise the following sub-steps:
- the invention further relates to the system for tracking objects from a LIDAR device, the system comprising: a laser source configured to emit a probe laser beam, a system for moving the probe laser beam configured to modify the orientation of the probe laser beam, the laser source and the movement system participating in the formation of a LIDAR apparatus, a control unit configured to control the system of movement of the probe laser beam, the control unit being further configured to the implementation of at least step C) of a tracking method according to the invention.
- Such an object tracking system makes it possible to implement a method according to the invention and to obtain the advantages associated with the method according to the invention.
- the system may further comprise at least one imaging device selected from the group comprising optical cameras and radar devices, and in which the imaging device is configured to implement at least step A) and to providing the control unit with the indications necessary for the control unit to be able to implement step B), the control unit being configured to implement step B) of the tracking method.
- at least one imaging device selected from the group comprising optical cameras and radar devices, and in which the imaging device is configured to implement at least step A) and to providing the control unit with the indications necessary for the control unit to be able to implement step B), the control unit being configured to implement step B) of the tracking method.
- Such imaging devices allow continuous detection of objects to be tracked over a relatively wide area.
- advantages of weakly resolved wide-field passive monitoring are combined with the precision of active monitoring offered by the method according to the invention.
- the system may comprise a device for entering into communication with the control unit in which an observer having identified an object to be tracked in accordance with step A) is capable of providing the indications necessary for the control unit to be able to put implement step B), the control unit being configured to implement step B) of the tracking method.
- FIG. 2 illustrates a flowchart showing the main steps of a monitoring method according to the invention
- FIGS. 3A to 3C respectively illustrate a tracking device according to the invention this according to a first principle of LIDAR measurement, the principle of displacement of the laser beam by the displacement system implemented in the context of the invention and in the LIDAR measurement frame, and a tracking device according to the invention this according to a second principle of LIDAR measurement,
- FIG. 4 illustrates a flowchart showing the sub-steps of a monitoring step of the method according to the invention
- FIG. 5 illustrates the principle of determining an angular parameter of the tracking pattern from the distance and a dimension of the object to be tracked
- FIG. 7 illustrates the principle of estimation pattern used in the context of the estimation step to estimate a dimension of the object according to a first variant of the method according to the invention
- Figure 8 illustrates a flowchart presenting the sub-steps of a step for estimating a position of the object of the method according to the first variant which is based on an estimation pattern as illustrated in Figure 7 ,
- FIG. 9 illustrates a LIDAR imaging substep implemented as part of a step for estimating a position of the object according to a second variant of the invention
- - Figure 10 illustrates a flow chart showing the sub-steps of an estimation step according to the second variant in which an imaging sub-step is implemented
- FIG. 11A to 11C illustrate an adaptation of the tracking pattern according to a second embodiment as a function of the estimated speed of the object for an estimated speed of the object respectively substantially zero, intermediate and relatively high;
- FIG. 12A to 12C illustrate an adaptation of the tracking pattern according to a variant of the second embodiment as a function of the estimated speed of the object for an estimated speed of the object respectively substantially zero, intermediate and relatively high;
- FIG. 2 is a flowchart illustrating the main steps of a tracking method according to the invention which is based on the principle of active tracking using a LIDAR device 1 such as that illustrated in FIG. 3.
- the object to be tracked is a drone 50.
- the invention is not limited to this single application and relates to tracking of any type of object that may have a relative displacement vis-à-vis a LIDAR device 1.
- the method of the invention relates to the tracking of moving objects such as drones, airplanes or even satellites artificial from the ground, it can also be implemented within the framework of a follow-up of an object presenting a relative displacement with respect to a LIDAR device, such as for example a LIDAR device equipping a shuttle in the context of a space rendezvous with a space station or an artificial satellite.
- Such a tracking method is based on a LIDAR device 1 which forms a tracking system 1 according to the invention and which is illustrated in FIG. 3.
- a LIDAR device 1 comprises: a laser source 10 configured to emit a probe laser beam 60A and a system 20 for moving the probe laser beam 60A configured to modify the orientation of the probe laser beam 60A, a measurement system 30 configured to detect a portion of the probe laser beam 60A backscattered by the object to be tracked 50 and to determine, from a time lag between the emission of the probe laser beam 60A and the detection of the backscattered part of the probe laser beam 60A, a distance between the object to be tracked 50 and the LIDAR device 1.
- distance between the object to be tracked 50 and the LIDAR apparatus 1 is meant a distance between a point of the object to be tracked, such as a point of the reflective surface of the latter from which the laser beam 60 is backscattered, and a reference point of the device, such as for example the displacement system 20 or a virtual reference point disposed between the displacement system 20 and the measurement system 30.
- the measurement implemented by a LIDAR device 1 is generally based on a measurement of the time between the emission of a laser pulse, included in the probe laser beam 60A , and the reception by the measurement system 30 of the part of this laser pulse backscattered by a surface, such as the surface of the object to be tracked 50, the distance between the surface and the LIDAR device 1 being able to be deduced directly by multiplying the measured time by the speed of light divided by two.
- a position of the surface at the origin of the backscattering of the probe laser beam is generally based on a measurement of the time between the emission of a laser pulse, included in the probe laser beam 60A , and the reception by the measurement system 30 of the part of this laser pulse backscattered by a surface, such as the surface of the object to be tracked 50, the distance between the surface and the LIDAR device 1 being able to be deduced directly by multiplying the measured time by the speed of light divided by two.
- the LIDAR apparatus further comprises a beam splitter 37 in order to to separate the pulsed laser beam 60 emitted by the laser source 10 into a probe laser beam 60A and a reference laser beam 60B.
- the measurement system 30 comprises: the beam splitter 37, a first radiation detection device 31, such as a photodetector (for example a photomultiplier), configured to detect the reference laser beam 60B after its separation from the probe laser beam 60A and to provide an emission time reference of the probe laser beam 60A, a second radiation detection device 32 such as a photodetector (for example a photomultiplier), configured to detect the part 60C of the backscattered probe laser beam 60A and to provide a reception time measurement of said part 60C of the probe laser beam 60A, a calculation unit 33 configured to calculate, from the time reference supplied by the first radiation detection device 31 and from the reception time measurement supplied by the second radiation detection device 31, a distance between the surface and the LIDAR device, and to determine from the orientation given by displacement system 20 to the laser beam probes 60A a position of said surface, a control unit 35 configured to control the displacement system 20 and the calculation unit in order to implement the method according to the invention .
- a first radiation detection device 31 such as a photode
- FIG. 3B illustrates the principle of angular displacement of the laser beam by the displacement system 20. It can be seen that according to this principle and from a set of mirrors (in particular illustrated in FIG. 3C), the displacement system 20 allows to angularly move the laser beam 50 along two different axes of a horizontal coordinate system, an azimuthal axis corresponding to a coordinate 0 in the horizontal plane (0 being between 0° and, at most, 360°), and a vertical axis corresponding to a coordinate cj) (cj) being between 0° and 90°). In this way, the laser beam 60 can be moved to follow the object regardless of its trajectory.
- the measurement system 30 may comprise only a single radiation detection device 31 to detect the part 60C of the backscattered probe 60 laser beam, and be devoid of a beam splitter.
- beam 37 the entire laser beam 60 acting as a probe laser beam.
- the laser beam 60 passes through a perforated parabolic mirror to be transmitted to the movement system 20 so that the latter moves the laser beam according to the tracking pattern 61 in the direction of the object 50.
- the laser beam 60 meets a surface, such as the surface of the object 50, a portion 60C of the latter is backscattered in the direction of the displacement system.
- This part 60C of the backscattered laser beam 60 is then, as illustrated in FIG. 3C, received by the displacement system 20 and deflected by the parabolic mirror towards the radiation detection device 31.
- the first detector 31 is configured to detect the backscattered part 60C of the probe laser beam 60A and to provide a temporal measurement of reception of said part 60C of the probe laser beam 60A.
- the time reference can be determined from the control signal transmitted to the laser source 10.
- the calculation unit 33 is configured to calculate, from the control signal transmitted by the control unit 35 and from the time measurement of reception provided by the first radiation detection device 31, a distance between the surface and the LIDAR apparatus, and to determine from the orientation given by displacement system 20 to the probe laser beam 60A a position of said surface.
- the configuration of the control unit 35 according to this second measurement principle remains similar to that according to the first measurement principle.
- the method according to the invention comprises the following steps:
- step A the identification of the object can be achieved by:
- a device external to the LIDAR device such as an optical camera, radar, radio wave detector, sound sensor, or even operator observation,
- the tracking system may further comprise the external device, not shown.
- This external device is configured to monitor a space in which the object 50 is likely to appear. When the external device detects the object, an approximate position of the object can be transmitted to the control unit 35 so that this last can implement step B based on the approximate position.
- the control unit it is also possible for the control unit to include an input device allowing an operator who has identified the object 50 to provide the indications necessary for the control unit 35 to be able to implement the step B.
- the LIDAR device 1 can present an imaging configuration in which the LIDAR device 1 is configured to scan a space in which the object 50 is likely to appear. This scanning operation, an anomaly likely to correspond to an object 50 to be tracked is detected, the control unit 35 can be configured to implement step B in order to confirm the presence of the object 50 and to estimate the position of the object 50.
- the control unit 35 is configured to make it possible to estimate a position of the object 50 according to the principle of LIDAR measurement. Such an estimate can be carried out by an orientation, by the displacement system, of the probe laser beam in the direction of an approximate position of the object obtained during step A and to measure, from the detection of the part of the backscattered probe laser beam, a distance between the object 50 and the LIDAR device 1.
- a step makes it possible to provide an estimated position of the object comprising a distance between the object 50 and the LIDAR device 1.
- Step C of tracking the object 50 comprises, as illustrated in FIG. 4, the sub-steps of:
- the Lissajou curve illustrated in FIG. 5 is only one example of a tracking pattern compatible with the invention and other patterns are perfectly possible without departing from the scope of the invention, the tracking pattern which can, for example, be a spiral or a circle. It will be noted that, whatever the case, the tracking pattern is preferably chosen for its ability to optimize the number of echoes on the object 50 (the number of points of interception of the object by the probe laser beam) and the ability to "trap" the object by reducing the possibility of leakage.
- step C1 the angular parameters of the tracking pattern 61 are defined, as illustrated in FIG. 5, from the estimated position of the object to be tracked, including in particular the distance D between the object 50 and the LIDAR device.
- the amplitude parameter A will be proportional to this estimated or expected dimension R , this proportionality, which can be materialized by a factor p, being chosen according to an expected maximum displacement speed and/or to maximize the number of echoes on the object 50.
- this parameter A can thus be equal at pR with p the proportionality factor and R the dimension of the object 50 which is either estimated or expected.
- the parameter A can be fixed and predetermined. Alternatively, as will be described in connection with Figures 6 to 8, it can be calculated from an estimated dimension R of the object 50 determined during one of step A and step B .
- the displacement system 20 being capable of modifying the orientation of the probe laser beam 60A, or in other words effecting an angular displacement of the latter, the path of the tracking pattern 61 by the laser beam probe 60A along the perpendicular plane corresponds to a change of angular coordinate of the probe 60A laser beam according to a frame of reference according to a system of horizontal coordinates whose origin is the LIDAR device 1.
- FIG. 6 illustrates this dependence of the angular amplitude of the pattern as a function of the distance D between the object and the LIDAR device 1, this for two objects 50, a first, on the left side, relatively distant and presenting an angular amplitude Xi and a second, on the right side, relatively close to the LIDAR device and presenting an angular amplitude x 2-
- the angular amplitude X i, X 2 of the object 50 in particular obtained from the distance D between the object 50 and the LIDAR device, to calculate the angular amplitude ai, a 2 , it It is possible to provide a tracking pattern 61 perfectly adapted to the dimensions and location of the object 50. With such an adaptation, the risks of leakage of the object 50 are significantly reduced.
- the angular amplitude a of the tracking pattern 61 can have a direct proportional relationship with the angular amplitude 0 of the object 50, it is possible that this relationship is different without departing from the framework of the 'invention.
- the angular amplitude a of the tracking pattern 61 also varies with the square of the angular amplitude 0 in order to provide a tracking pattern 61 of greater angular amplitude a when the object 50 is relatively close to the LIDAR 1 device.
- steps C1 to C3 can be reproduced successively and iteratively, the estimated position of the object used in step C1 being either, for the first iteration, the estimated position of the object 50 obtained in step B, or, for an iteration n, n being an integer greater than or equal to 2 , the position of the object determined in step C3 of iteration n-1.
- this tracking is carried out with a tracking pattern whose angular parameter, ie in the present embodiment the angular amplitude a, is determined on the basis of a estimated position of the updated object 50, this in particular with regard to the distance D between the object 50 and the LIDAR device 1.
- step A of identifying the object to be tracked and of step B d estimating the position of the object at least one estimated dimension R of the object 50 along the perpendicular plane is also determined.
- step B may comprise, in accordance with flowchart of Figure 8, the following sub-steps:
- the control unit 35 is configured to obtain a preliminary position of the object 50.
- the control unit 35 can be configured to communicate with the external device used in the context of step A or to use information provided by the operator who identified the target in the context of step A in order to determine an estimated position of the object 50. It will be noted that in this context, the control unit 35 can also determine from this communication or this retrieval of information, the type of the object.
- This information on the preliminary position of the object obtained the control unit 35 is configured to, within the framework of sub-step B2, determine an identification pattern 63 to be traversed by the probe laser beam 60A along the perpendicular plane to determine a dimension of the object 50 according to the perpendicular plane.
- Such an identification pattern 63 can be, for example and as illustrated in FIG. 7, a rosette whose angular amplitude is greater than a maximum angular amplitude expected for the object 50.
- identification pattern 63 can also be, without departing from the scope of the invention, identical to the tracking pattern and thus, be, in the present embodiment, a Lissajou curve .
- the identification pattern 63 can conform to the following parametric equation:
- ⁇ p(t) arctan ( ⁇ '' ⁇ TM ax (14sin(27ift) — 12sin(14Tift))) + ⁇ p' o
- P′ a proportionality factor
- Rmax an expected maximum dimension of the object 50 in the perpendicular plane, 0′ o and 4)′ o corresponding to the angular shift of the tracking pattern 61 to make the tracking pattern correspond to the preliminary position of object 50.
- the angular amplitude A' of the identification pattern 63 is a function of the proportionality factor P', of the maximum expected dimension Rmax and of the preliminary distance D included in the position preliminary of object 50.
- the estimated dimension of the object 50 can be obtained by an imaging step around a preliminary position of the object 50, this on a space zone of a larger size. at a maximum dimension Rmax expected of the object 50, as illustrated in FIG. 9.
- This estimated dimension can be obtained either during step A of identifying the object 50, or during step B estimation of a position of the object 50.
- step B of estimation can understand, as illustrated in Figure 10, the following sub-steps:
- a sub-step may be provided for identifying the type of object of the object 50.
- a or several parameters can be changed depending on the type of object 50 identified.
- the drone to be tracked can be identified as being:
- the tracking pattern 61 can then be chosen, during the step C1 of determining the tracking pattern 61 as a function of the dimensional and displacement characteristics expected for the type of drone identified.
- the estimated dimension is obtained within the framework of estimation step B, the person skilled in the art is able to modifying the methods according to these variants so that this obtaining is within the scope of step A of identifying an object to be tracked without departing from the scope of the invention.
- FIGS. 11A to 11C illustrate the adaptability of the tracking pattern 61 according to the displacement of the object 50 implemented within the framework of a method according to a second embodiment.
- a tracking method according to this second embodiment differs from a tracking method according to the first embodiment in that during the sub-step C1 of determining the tracking pattern 61, the latter is determined from displacement information of the object 50 determined during the implementation of a step C3 above.
- n being an integer greater than or equal to 2
- at least one other angular parameter of the pattern is also determined from the estimated displacement speed of the object 50 determined during step C3 of the n-1 iteration.
- V the estimated displacement speed of the object 50 and Vm an expected maximum speed of the object.
- phase shift 4 between the x and y axis of the Lissajou curve as a function of, in addition to the displacement speed, an estimated acceleration of the object.
- an estimated acceleration of the object 50 can also be determined.
- the deformation described below is only provided by way of example, the person skilled in the art being able, from this disclosure, to provide another type of deformation to take account of the speed V estimated of the object 50. It will be noted, in particular, that it is perfectly possible, without departing from the scope of the invention, for the other parameter of the tracking pattern to be determined solely on the basis of the estimated direction of movement or else on the basis of a direction of movement and/or an approximate speed.
- At least one parameter of the tracking pattern 61 is determined from an estimated direction of displacement whereas for the iterations n , n being an integer greater than or equal to 2, the at least one parameter of the pattern of Tracking 61 is determined from an estimated travel direction and travel speed.
- the adaptation of the tracking pattern 61 as a function of the speed can be obtained by changing the type of pattern.
- the tracking pattern 61 is chosen for a stationary object, or having a relatively low speed, as being a Lissajou curve similar to that described in the context of the first mode of achievement.
- the tracking pattern 60 is chosen to be an epitrochroid whose axis of symmetry is brought into coincidence with the direction of displacement of the object 50 , this pattern having a large beam density on the edges while maintaining points in the center.
- the angular parameters of this epitrochroid curve are determined as a function of the speed V of the object, in order to maximize the number of echoes.
- the at least one other parameter of the tracking pattern determined from the estimated direction of movement of the object a type of pattern selected from a group of predefined patterns, the type of pattern being selected from said group of predefined patterns as a function of the estimated direction of movement and/or the estimated speed of movement V if the latter is available.
- the pattern group comprises a Lissajou curve conforming to the first embodiment and an epitrochroid whose axis of symmetry is oriented according to the direction of displacement of the object to be followed.
- the at least one other parameter of the tracking pattern can also be determined from an estimated acceleration of the object 50.
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KR1020237011197A KR20230071145A (ko) | 2020-09-02 | 2021-08-25 | 물체를 적응적으로 추적하기 위한 lidar 기술 기반 방법 및 디바이스 |
AU2021335677A AU2021335677A1 (en) | 2020-09-02 | 2021-08-25 | Lidar technology-based method and device for adaptively tracking an object |
EP21770055.8A EP4208731A1 (fr) | 2020-09-02 | 2021-08-25 | Procédé et dispositif de suivi adaptatif d'un objet basés sur la technologie lidar |
US18/043,639 US20230324552A1 (en) | 2020-09-02 | 2021-08-25 | Lidar technology-based method and device for adaptively tracking an object |
JP2023514837A JP2023540524A (ja) | 2020-09-02 | 2021-08-25 | 対象物を適応的に追跡するためのライダー技術に基づく方法及び装置 |
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FR2008892 | 2020-09-02 | ||
FR2008892A FR3113739B1 (fr) | 2020-09-02 | 2020-09-02 | Procédé et dispositif de suivi adaptatif d'un objet basés sur la technologie LIDAR |
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WO2022049337A1 true WO2022049337A1 (fr) | 2022-03-10 |
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PCT/FR2021/051486 WO2022049337A1 (fr) | 2020-09-02 | 2021-08-25 | Procédé et dispositif de suivi adaptatif d'un objet basés sur la technologie lidar |
Country Status (7)
Country | Link |
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US (1) | US20230324552A1 (fr) |
EP (1) | EP4208731A1 (fr) |
JP (1) | JP2023540524A (fr) |
KR (1) | KR20230071145A (fr) |
AU (1) | AU2021335677A1 (fr) |
FR (1) | FR3113739B1 (fr) |
WO (1) | WO2022049337A1 (fr) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5216236A (en) * | 1991-02-19 | 1993-06-01 | National Research Council Of Canada | Optical tracking system |
US20160223654A1 (en) * | 2013-09-27 | 2016-08-04 | Robert Bosch Gmbh | Method for controlling a micro-mirror scanner, and micro-mirror scanner |
WO2017200896A2 (fr) * | 2016-05-18 | 2017-11-23 | James O'keeffe | Lidar à orientation dynamique adapté à la forme de véhicule |
-
2020
- 2020-09-02 FR FR2008892A patent/FR3113739B1/fr active Active
-
2021
- 2021-08-25 US US18/043,639 patent/US20230324552A1/en active Pending
- 2021-08-25 JP JP2023514837A patent/JP2023540524A/ja active Pending
- 2021-08-25 KR KR1020237011197A patent/KR20230071145A/ko unknown
- 2021-08-25 AU AU2021335677A patent/AU2021335677A1/en active Pending
- 2021-08-25 EP EP21770055.8A patent/EP4208731A1/fr active Pending
- 2021-08-25 WO PCT/FR2021/051486 patent/WO2022049337A1/fr unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5216236A (en) * | 1991-02-19 | 1993-06-01 | National Research Council Of Canada | Optical tracking system |
US20160223654A1 (en) * | 2013-09-27 | 2016-08-04 | Robert Bosch Gmbh | Method for controlling a micro-mirror scanner, and micro-mirror scanner |
WO2017200896A2 (fr) * | 2016-05-18 | 2017-11-23 | James O'keeffe | Lidar à orientation dynamique adapté à la forme de véhicule |
Also Published As
Publication number | Publication date |
---|---|
US20230324552A1 (en) | 2023-10-12 |
JP2023540524A (ja) | 2023-09-25 |
EP4208731A1 (fr) | 2023-07-12 |
KR20230071145A (ko) | 2023-05-23 |
FR3113739A1 (fr) | 2022-03-04 |
FR3113739B1 (fr) | 2023-06-09 |
AU2021335677A1 (en) | 2023-03-23 |
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