Mobile radar and visual tracking coordinate transformation

摘要

A system for generating video data comprising a mobile radar system operating on a processor and configured to generate vertically tilted radar frame data for a plurality of vehicles. A mobile video system operating on a processor and configured to generate video data of the plurality of vehicles. A dynamic plane rotation system operating on a processor and coupled to the mobile radar system and configured to map the vertically tilted radar frame data onto a flat plane parallel to a roadway to generate mapped data.

主权项

1. A method for generating evidentiary data comprising:
receiving digital data that represents radar data and video data at a processor that includes a plurality of target vehicles; mapping the radar data to a flat plane parallel to the roadway with a processor; rotating the mapped data into a radar frame of reference; generating digital data representing a speed of each of the plurality of target vehicles; and generating a display that includes the speed of each of the plurality of target vehicles in the video data adjacent to an image of each of the plurality of target vehicles; wherein rotating the mapped data in the radar frame of reference to the roadway frame of reference comprises calculating:
θt=θyr +θhs, where
θyr=a target angle relative to a radar Y axis, and θhs=a radar angle relative to the radar Y axis.