Method and system for detecting an object using a composite evidence grid

摘要

A method and system for detecting an object uses a composite evidence grid based on dual frequency sensing. A source transmits a laser transmission in a first zone. A detector receives a reflection of the laser transmission from an object in the first zone to determine laser observed data associated with points on the object. A transmitter transmits a radar transmission in a second zone that overlaps with the first zone. A receiver receives a reflection of the radar transmission from an object in the second zone to determine radar observed data associated with points on the object. The laser observed data is processed to form a laser occupancy grid for the first zone and the radar observed data is processed to form a radar occupancy grid for the second zone. An evaluator evaluates the radar occupancy grid and the laser occupancy grid to produce a composite evidence grid for at least an overlapping region defined by the first zone and the second zone.