Patent ID: 11899102
Assignee: ACCONEER AB
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 7:
8. The autonomous moving object according to claim 1, wherein the controller being configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by evaluating whether the synthetic aperture radar image comprises any amplitude peaks comprises iteratively:
finding a data point of maximum amplitude in the synthetic aperture radar image,
applying a mask function to remaining data points of the synthetic aperture radar image,
wherein the mask function has a maximum value being located at a position of the found data point and being at least equal to the found maximum amplitude, and wherein values of the mask function are lower than said maximum value at least for data points being distanced from the found data point of maximum amplitude by more than a threshold distance,
wherein the mask function is applied by nulling or invalidating remaining data points which have values below said mask function so as to obtain a processed image, and

repeating the above on said processed image, and, later, on subsequently obtained processed images, until all amplitude peaks are found, and
said controller being configured to evaluate if any of the above found amplitude peaks are within the pre-defined set of distances and angles.