Device, system, and method for tracking an object using radar data and imager data

Patent metadata

Field	Value
Publication number	US-2024045021-A1
Application number	US-202318488447-A
Country	US
Kind code	A1
Filing date	Oct 17, 2023
Priority date	Dec 5, 2016
Publication date	Feb 8, 2024
Grant date	—

Abstract

A system for tracking the movement of an object includes a radar device having a first field of view. The radar device generates radar data indicating one of a range corresponding to a distance of a moving object within the first field of view from the radar device and a range rate corresponding to a rate at which the distance is changing relative to the radar device. The system also includes an imager having a second field of view at least partially overlapping the first field of view in an overlap field of view. The imager generates imager data measuring, when the object is in the second field of view, an angular position of the object relative to the imager in at least one dimension. In addition, the system includes a processor combining the radar data and imager data, when the object is in the overlap field of view, to identify a track of the object in at least two dimensions.

First claim

1 - 17 . (canceled)

18 . A system for tracking a movement of an object, comprising:
a radar device having a first field of view, the radar device generating radar data corresponding to a range indicating a distance of a moving object within the first field of view from the radar device; an imager having a second field of view at least partially overlapping the first field of view in an overlap field of view, the imager generating imager data measuring, as the object moves through the second field of view, angular positions of the object relative to the imager in at least one dimension; a memory storing topographical information for a surface over which the object to be tracked will move; and a processor combining the imager data, the radar data and the topographical information to identify a track of the object in three dimensions as the object moves through the overlap field of view, the angular positions of the object being determined using data from the imager.

19 . The system of claim 18 , wherein the radar device is a one-dimensional radar.

20 . The system of claim 18 , wherein the processor includes data corresponding to a separation vector indicating a position of the radar device relative to the imager.

21 . The system of claim 20 , wherein the processor calculates a unity vector from the imager to the object and, based on the unity vector, the radar data and the separation vector, the processor calculates the position of the object in three dimensions.

22 . The system of claim 21 , wherein the processor defines a field based coordinate system based on reference points within the second field of view and translates and rotates the position of the object in three dimensions into the field based coordinate system.

23 . The system of claim 18 , wherein the object is a golf ball and wherein the topographical information concerns a putting green on which the golf ball to be putted.

24 . The system of claim 18 , wherein the object is a sports ball and wherein the system weights the radar data more heavily than imager data in determining the range and weights imager data more heavily than the radar data in determining angular positions.

25 . The system of claim 18 , wherein the radar device is a Doppler radar.

26 . The system of claim 18 , wherein the processor calculates a range from the radar device based on an initial value of the range and the integrated range rate over time determined from the radar data.

27 . A method for tracking a movement of an object, comprising:
positioning a radar device aimed so that a first field of view covers at least a portion of a target volume through which an object is to move, the radar device generating radar data corresponding to a range indicating a distance of a moving object within the first field of view from the radar device; positioning an imager aimed so that a second field of view of the imager at least partially overlaps the first field of view within a desired portion of the target volume, the imager generating imager data measuring, as the object moves through the second field of view, angular positions of the object relative to the imager in at least two dimensions; and combining the imager data, the radar data and topographical information for a surface over which the object to be tracked will move to identify a track of the object in three dimensions as the object moves through the overlap field of view.

28 . The method of claim 27 , wherein all of the angular positions of the object being determined using only data from the imager.

29 . The method of claim 27 , the object is a sports ball further comprising:
weighting the radar data more heavily than imager data in determining the range; and weighting imager data more heavily than radar data in determining angular positions of the sports ball.

30 . The method of claim 27 , wherein the object is a golf ball and wherein the topographical information concerns a putting green on which the golf ball to be putted.

31 . The method of claim 27 , further comprising:
defining by a processor a field based coordinate system based on reference points within the second field of view; and translating and rotating by the processor the position of the object in three dimensions into the field based coordinate system.

32 . The method of claim 27 , wherein the radar device is a one dimensional doppler radar.

Assignees

• Trackman As

Inventors

• Tuxen Fredrik
• Søndergaard Thomas

Classifications

• G01S7/02 Primary

  of systems according to group G01S13/00 · CPC title

• G01S3/802

  Systems for determining direction or deviation from predetermined direction · CPC title

• G01S13/93

  for anti-collision purposes · CPC title

• G01S13/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title