Annotation of radar-profiles of objects
A radar-data collection system a radar, a camera, and a controller-circuit. The radar and the camera are intended for mounting on a host-vehicle. The radar is configured is to indicate a radar-profile of an object detected by the radar. The camera is configured to render an image of the object. The controller-circuit is in communication with the radar and the camera. The controller is configured to determine an identity of the object in accordance with the image, and annotate the radar-profile in accordance with the identity.
1. A system, comprising:
a controller circuit configured to:
receive radar data representing detections of an object proximate a host vehicle;
receive image data representing a captured image of the object;
determine an identity of the object based on the image data;
determine, based on the radar data and the image data, a radar profile including a two-dimensional representation of the radar data relative to a host vehicle coordinate system and an associated image of the object;
annotate the radar profile in accordance with the identity and an orientation of the object by labeling the radar profile with the image, the identity, and the orientation of the object;
determine a distance and a direction to the object in accordance with the radar profile; and
annotate the radar profile in accordance with the distance and the direction.
2. The system in accordance with claim 1 , wherein the controller circuit is configured to:
determine an orientation angle of the object in accordance with the radar profile; and
annotate the radar profile in accordance with the orientation angle.
3. The system in accordance with claim 1 , wherein the controller circuit is configured to:
determine an orientation angle of the object in accordance with the image data; and
annotate the radar profile in accordance with the orientation angle.
4. The system in accordance with claim 1 , wherein the controller circuit is configured to:
determine a reflection intensity map in accordance with the radar profile; and
annotate the radar profile in accordance with the reflection intensity map.
5. The system in accordance with claim 1 , wherein the system includes a sensor mounted on the host vehicle, the controller circuit is in communication with the sensor, said sensor is configured to indicate a pose angle of the host vehicle, the pose angle being one or more of a pitch angle, a roll angle, and a yaw angle of the host vehicle, and the controller circuit is configured to annotate the radar profile in accordance with the pose angle.
6. The system in accordance with claim 1 , wherein the controller circuit is configured to:
determine an elevation to the object in accordance with the radar profile; and
annotate the radar profile in accordance with the elevation.
7. The system in accordance with claim 1 , wherein the controller circuit is configured to operate the host vehicle in accordance with the radar profile in response to a determination that a radar map corresponds to the radar profile.
8. The system in accordance with claim 1 , wherein annotating the radar profile includes the controller circuit recording object information along with the radar data from the object.
9. The system in accordance with claim 1 , wherein the controller circuit is configured to upload the annotated radar profile to a data base that is accessible by other vehicles.
10. A method, comprising:
receiving, with a controller circuit, radar data representing detections of an object proximate to a host vehicle;
receiving, with the controller circuit, image data representing a captured image of the object;
determining, with the controller circuit, an identity of the object based on the image data;
determining, with the controller circuit based on the radar data and the image data, a radar profile including a two-dimensional representation of the radar data relative to a host vehicle coordinate system and an associated image of the object;
annotating the radar profile in accordance with the identity and an orientation of the object by labeling the radar profile with the image, the identity, and the orientation of the object; and
annotating the radar profile in accordance with the distance and the direction by determining a distance and a direction to the object in accordance with the radar profile.
11. The method in accordance with claim 10 , including:
determining an orientation angle of the object in accordance with the radar profile; and
annotating the radar profile in accordance with the orientation angle.
12. The method in accordance with claim 10 , including:
determining an orientation angle of the object in accordance with the image data; and
annotating the radar profile in accordance with the orientation angle.
13. The method in accordance with claim 10 , including:
determining a reflection intensity map in accordance with the radar profile; and
annotating the radar profile in accordance with the reflection intensity map.
14. The method in accordance with claim 10 , including:
receiving a pose angle of a host vehicle from a sensor, the pose angle being one or more of a pitch angle, a roll angle, and a yaw angle of the host vehicle; and
annotating the radar profile in accordance with the pose angle.
15. The method in accordance with claim 10 , including:
determining an elevation to the object in accordance with the radar profile; and
annotating the radar profile in accordance with the elevation.
16. The method in accordance with claim 10 , including operating a host vehicle in accordance with the radar profile in response to a determination that a radar map corresponds to the radar profile.
17. The method in accordance with claim 10 , wherein annotating the radar profile includes recording object information along with the radar data from the object.
18. The method in accordance with claim 10 , including uploading the annotated radar profile to a data base that is accessible by other vehicles.