COLLISION AVOIDANCE METHOD AND SYSTEM USING STEREO VISION AND RADAR SENSOR FUSION
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United States of America Patent
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Issued Date -
Nov 26, 2009
app pub date -
Mar 25, 2009
filing date -
Mar 25, 2008
priority date (Note) -
Abandoned
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Abstract
A system and method for fusing depth and radar data to estimate at least a position of a threat object relative to a host object is disclosed. At least one contour is fitted to a plurality of contour points corresponding to the plurality of depth values corresponding to a threat object. A depth closest point is identified on the at least one contour relative to the host object. A radar target is selected based on information associated with the depth closest point on the at least one contour. The at least one contour is fused with radar data associated with the selected radar target based on the depth closest point to produce a fused contour. Advantageously, the position of the threat object relative to the host object is estimated based on the fused contour. More generally, a method is provided for aligns two possibly disparate sets of 3D points.
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