公开(公告)号：US20180364360A1

公开(公告)日：2018-12-20

申请号：US15490857

申请日：2017-04-18

Applicant: RAYTHEON COMPANY

Inventor： Louis Zellinger ,  Vitaliy M. Kaganovich ,  Eran Marcus

IPC: G01S17/89 ,  G01S17/10 ,  G01S7/486

Abstract: A system and method for forming a range estimate for a target with a laser detection and ranging system. The system includes a laser transmitter and an array detector. The method includes: transmitting a plurality of laser pulses; for each transmitted laser pulse: detecting, with the array detector, a plurality of ladar return photons from the laser pulse, each detection producing an electrical pulse; identifying, for each of the electrical pulses, a time bin of a plurality of time bins corresponding to the laser pulse, within which the electrical pulse was produced; forming a one dimensional range histogram array having, for each of a subset of the plurality of bins, an element with a value equal to the number of electrical pulses produced in the array detector during a time interval corresponding to the bin; and forming an estimated range rate for the target.

公开(公告)号：US20180299556A1

公开(公告)日：2018-10-18

申请号：US15490858

申请日：2017-04-18

Applicant: RAYTHEON COMPANY

Inventor： Eran Marcus ,  Vitaliy M. Kaganovich

IPC: G01S17/89 ,  G01S17/02 ,  G01S7/487 ,  G06T7/262

CPC classification number: G01S17/89 ,  G01S7/4808 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/4876 ,  G01S17/023 ,  G01S17/107 ,  G01S17/42 ,  G01S17/58 ,  G01S17/933 ,  G06T7/262 ,  G06T2207/10028

Abstract: A system and method for forming an image of a target with a laser detection and ranging system. The system includes a laser transmitter and an array detector. The method includes transmitting a sequence of laser pulses; forming a plurality of point clouds, each point cloud corresponding to a respective transmitted laser pulse, each point in the point cloud corresponding to a point on a surface of the target; grouping the plurality of point clouds into a plurality of point cloud groups according to a contiguous subset of the sequence of laser pulses; forming a plurality of average point clouds, each of the average point clouds being the average of a respective group of the plurality of point cloud groups; and forming a first estimate of a six-dimensional velocity of the target, including three translational velocity components and three angular velocity components, from the plurality of average point clouds.

公开(公告)号：US09111444B2

公开(公告)日：2015-08-18

申请号：US13665560

申请日：2012-10-31

Applicant: Raytheon Company

Inventor： Vitaliy M. Kaganovich

IPC: G01C3/08 ,  G08G1/04 ,  G01S17/89 ,  G01S7/48 ,  G06K9/32 ,  G08G1/056 ,  G06T7/00 ,  G06T7/20

CPC classification number: G08G1/04 ,  G01S7/4808 ,  G01S17/89 ,  G06K9/3241 ,  G06T7/194 ,  G06T7/254 ,  G06T7/38 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/20032 ,  G06T2207/20036 ,  G08G1/056

Abstract: Embodiments of video and LIDAR target detection and tracking system and method for segmenting targets are generally described herein. In some embodiments, the system may perform moving target detection using three-frame difference processing on frames of LIDAR range images of a scene to identify a moving target and determine an initial position estimate for the moving target. The system may also perform segmentation of the moving target using a single frame of the LIDAR range images to generate a segmented target that may include a target mask and target centroid position. After segmentation, moving target registration including motion compensation may be performed by registering the segmented target in multiple LIDAR frames to determine a target position, a target orientation and a target heading. In some embodiments, a three-dimensional model of the moving target may be generated and added to a sequence of video frames.

Abstract translation: 视频和LIDAR目标检测和跟踪系统和用于分割目标的方法的实施例一般在此描述。 在一些实施例中，系统可以对场景的LIDAR范围图像的帧执行三帧差分处理来执行移动目标检测，以识别移动目标并确定移动目标的初始位置估计。 该系统还可以使用LIDAR范围图像的单个帧来执行移动目标的分割，以生成可包括目标掩模和目标重心位置的分段目标。 在分割之后，可以通过在多个LIDAR帧中注册分段目标来确定目标位置，目标方向和目标标题来执行包括运动补偿的移动目标注册。 在一些实施例中，可以生成移动目标的三维模型并将其添加到视频帧序列。

公开(公告)号：US10557927B2

公开(公告)日：2020-02-11

申请号：US15490855

申请日：2017-04-18

Applicant: RAYTHEON COMPANY

Inventor： Joseph Marron ,  Louis Zellinger ,  Arthur M. Newman ,  Vitaliy M. Kaganovich

IPC: G01S7/48 ,  G01S17/58 ,  G01S17/10 ,  G01S17/02

Abstract: A system and method for forming a range rate estimate for a target with a laser detection and ranging system including a laser transmitter and an array detector. The method includes: transmitting a plurality of laser pulses at a pulse repetition frequency; forming a one dimensional time series array corresponding to a time record of ladar return photons detected with the array detector; fitting the time series array with a superposition of a sine and a cosine of an initial value of a tentative frequency; iteratively fitting the time series array with a superposition of a sine and a cosine of the tentative frequency, and adjusting the tentative frequency until a completion criterion is satisfied at a final value of the tentative frequency.

公开(公告)号：US10371818B2

公开(公告)日：2019-08-06

申请号：US15490858

申请日：2017-04-18

Applicant: RAYTHEON COMPANY

Inventor： Eran Marcus ,  Vitaliy M. Kaganovich

IPC: G01S17/89 ,  G06T7/262 ,  G01S17/42 ,  G01S17/58 ,  G01S17/02 ,  G01S7/487 ,  G01S17/10 ,  G01S17/93 ,  G01S7/48 ,  G01S7/486

Abstract: A system and method for forming an image of a target with a laser detection and ranging system. The system includes a laser transmitter and an array detector. The method includes transmitting a sequence of laser pulses; forming a plurality of point clouds, each point cloud corresponding to a respective transmitted laser pulse, each point in the point cloud corresponding to a point on a surface of the target; grouping the plurality of point clouds into a plurality of point cloud groups according to a contiguous subset of the sequence of laser pulses; forming a plurality of average point clouds, each of the average point clouds being the average of a respective group of the plurality of point cloud groups; and forming a first estimate of a six-dimensional velocity of the target, including three translational velocity components and three angular velocity components, from the plurality of average point clouds.

公开(公告)号：US20180299536A1

公开(公告)日：2018-10-18

申请号：US15490855

申请日：2017-04-18

Applicant: RAYTHEON COMPANY

Inventor： Joseph Marron ,  Louis Zellinger ,  Arthur M. Newman ,  Vitaliy M. Kaganovich

IPC: G01S7/486 ,  G01S17/58 ,  G01S17/10 ,  G01S17/02

CPC classification number: G01S7/4865 ,  G01S7/4808 ,  G01S7/4863 ,  G01S17/023 ,  G01S17/102 ,  G01S17/58 ,  G01S17/89

Abstract: A system and method for forming a range rate estimate for a target with a laser detection and ranging system including a laser transmitter and an array detector. The method includes: transmitting a plurality of laser pulses at a pulse repetition frequency; forming a one dimensional time series array corresponding to a time record of ladar return photons detected with the array detector; fitting the time series array with a superposition of a sine and a cosine of an initial value of a tentative frequency; iteratively fitting the time series array with a superposition of a sine and a cosine of the tentative frequency, and adjusting the tentative frequency until a completion criterion is satisfied at a final value of the tentative frequency.

公开(公告)号：US20140118716A1

公开(公告)日：2014-05-01

申请号：US13665560

申请日：2012-10-31

Applicant: RAYTHEON COMPANY

Inventor： Vitaliy M. Kaganovich

IPC: G01S17/58

CPC classification number: G08G1/04 ,  G01S7/4808 ,  G01S17/89 ,  G06K9/3241 ,  G06T7/194 ,  G06T7/254 ,  G06T7/38 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/20032 ,  G06T2207/20036 ,  G08G1/056

Abstract: Embodiments of video and LIDAR target detection and tracking system and method for segmenting targets are generally described herein. In some embodiments, the system may perform moving target detection using three-frame difference processing on frames of LIDAR range images of a scene to identify a moving target and determine an initial position estimate for the moving target. The system may also perform segmentation of the moving target using a single frame of the LIDAR range images to generate a segmented target that may include a target mask and target centroid position. After segmentation, moving target registration including motion compensation may be performed by registering the segmented target in multiple LIDAR frames to determine a target position, a target orientation and a target heading. In some embodiments, a three-dimensional model of the moving target may be generated and added to a sequence of video frames.

Abstract translation: 视频和LIDAR目标检测和跟踪系统和用于分割目标的方法的实施例一般在此描述。 在一些实施例中，系统可以对场景的LIDAR范围图像的帧执行三帧差分处理来执行移动目标检测，以识别移动目标并确定移动目标的初始位置估计。 该系统还可以使用LIDAR范围图像的单个帧来执行移动目标的分割，以生成可包括目标掩模和目标重心位置的分段目标。 在分割之后，可以通过在多个LIDAR帧中注册分段目标来确定目标位置，目标方向和目标标题来执行包括运动补偿的移动目标注册。 在一些实施例中，可以生成移动目标的三维模型并将其添加到视频帧序列。