公开(公告)号：US20240221180A1

公开(公告)日：2024-07-04

申请号：US18558218

申请日：2022-04-05

Applicant: Israel Aerospace Industries Ltd.

Inventor： Tal SIAK ,  Anna GULITSKI ,  Yaacov TAVGER

IPC: G06T7/20 ,  G01S17/89 ,  G06T5/20 ,  G06V10/25 ,  G06V10/762 ,  G06V10/764

CPC classification number: G06T7/20 ,  G01S17/89 ,  G06T5/20 ,  G06V10/25 ,  G06V10/762 ,  G06V10/764 ,  G06V2201/07

Abstract: A system and method for tracking moving objects located within an area of interest are described. A sequence of periodic frames of the area is generated from LiDAR measurements. The sequence includes preliminary periodic and periodic operational frames. Each periodic frame includes point cloud data including static object data and dynamic object data. The static data are filtered out by applying a pattern mask generated by using the predetermined number of the preliminary periodic frames. For each periodic operational frame, clusters of points related to the dynamic object data are generated. Tracks of the moving objects are constructed from clusters related to the same object. The clusters are obtained for a predetermined number of the periodic operational frames. Each cluster is defined by a characteristics vector associated with a moving object in a corresponding periodic operational frame. Each characteristics vector includes cluster parameters associated with the corresponding moving object.