Rodradar Ltd.

Shai Segal

John Francis Roulston

Alon Slapak

Simon Conway

Ronen Globinsky

The present disclosure relates to a method of operating a machine comprising an implement and a machine for performing such a method. The implement is configured for motion in at least three degrees of freedom. In response to an input, movement of the implement from first to second positions is constrained to a first motion in a first plane or a second motion in a second plane. Sensor data received from an IMU attached to the implement is indicative of the movement of the implement. A first or second estimation mode is selected based upon a determination that the movement is the first or second motion. The first or second estimation mode is implemented to estimate the trajectory of the implement and the second position based upon the sensor data.

Method of operating a machine comprising an implement

A trajectory tracking system includes a set of dynamic models, a trajectory database, a trajectory handler, a parameter extractor and a classifier. There is one dynamic model per expected obstacle type and it models an expected trajectory of a point of normal incidence (PNI) of the expected obstacle. The trajectory database stores trajectories for a current set of obstacles being tracked. The trajectory handler at least associates incoming detections to existing trajectories and to update the existing trajectories. The parameter extractor periodically extracts parameters from the trajectories and the classifier classifies obstacles associated with the trajectories at least based on the parameters of the trajectories and on associated the dynamic models for the trajectories.

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Ramat Gan, Israel

Shai Segal