Axis Ab

Daniel Ståhl

Aras Papadelis

Anders Mannesson

Sebastian Heunisch

Stefan Adalbjörnsson

Anton Sedin

David Wadmark

Andres Vigren

August Bergoo

Arnab Bhattacharjee

André Nüsslein

Simon Jonsson

Simon Jönsson

August Bergöö

A method for mapping a static scene using a stationary radar unit operative to transmit radar signals towards a scene, the stationary radar unit comprises a set of receiver antennas configured to detect radar signals from arbitrary directions, and the stationary radar unit is configured to measure target velocity in discrete velocity bins, the method comprising: continuously collecting radar signals over time to detect a static scene using the set of receiver antennas; constructing an occupancy map of the static scene using confirmed detections determined from the collected radar signals, where confirmed detections are detections with radar signal strength exceeding a detection threshold and with velocity falling in a zero velocity bin and detections with radar signal strength exceeding the detection threshold and with a non-zero velocity sufficiently low to cause spill over information in the same bin as detections falling in the zero velocity bin.

Static scene mapping using radar

A method for classifying tracks in radar detections of a scene acquired by a stationary radar unit, comprises: acquiring radar detections of the scene using the static radar unit; feeding at least a portion of the radar detections into a tracker module for producing track-specific feature data indicating a specific track in the scene, feeding at least a portion of the radar detections into a scene model comprising information about scene-specific features aggregated over time, and information indicating areas in the scene with expected ghost target detections and areas with expected real target detections, wherein at least a subset of the scene-specific features is determined from the radar detections; classifying the specific track as belonging to a real target or to a ghost target by relating the specific track to a position in the scene model.

Multipath classification in radar detections

Apparatus are provided for generating an object classification for an object, the apparatus comprising an image sensor, a radar sensor, and a processing unit, the processing unit configured to perform the steps of: receiving image data for the object from the image sensor, operating an image-based object classifier on the image data to generate an image-based object classification, receiving radar data for the object from the radar sensor, operating a radar-based object classifier on the radar data to generate a radar-based object classification, selecting between the image-based object classification and the radar-based object classification to output as the object classification for the object, determining if a training condition is met by the radar-based object classification, and training the radar-based object classifier using the image-based object classification when the training condition is met by the radar-based object classification.

Method and sensor apparatus for generating an object classification for an object

A method () of determining a transformation matrix for transformation of ranging data from a first coordinate system for the ranging sensor to a second coordinate system for an image sensor is disclosed. The method comprises providing () a ranging sensor and an image sensor; acquiring () a ranging frame sequence, and an image frame sequence; determining () points of motion in frames of each acquired frame sequence; for each frame in one of the frame sequences: evaluating () if a single motion point has been determined in the frame, and if a single motion point has been determined, evaluating () if a single motion point has been determined in a temporally corresponding frame of the other frame sequence and, in that case, pairing () the temporally corresponding frames, whereby a set of frame pairs is formed, and determining () the transformation matrix based on the set of frame pairs.

Method of determining a transformation matrix

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Lund, Sweden

Daniel Ståhl