Patent ID: 9384669
Filing Date: 2016-07-05
CPC Classification: G01S,G06T,G08G,H04N

Claim Text:
1. A method for estimating, from a platform, at least one parameter of an intruder, the method comprising: generating consecutive frames of image data at different times of said intruder with at least one passive sensor arranged at the platform; determining a direction from the platform to the intruder based on the generated consecutive frames of image data; estimating a time period remaining until a potential collision between the platform and the intruder; estimating an angular extent of the intruder, as viewed by the passive sensor from the platform, based on the image data, wherein the angular extent comprises an angular view size of the intruder; generating a potential minimum representation of the intruder having the angular extent and a potential maximum representation of the intruder having the angular extent along the direction at one time; estimating a first relative location vector to the potential minimum representation of the intruder corresponding to a minimum range to the intruder along the direction; and/or estimating a second relative location vector to the potential maximum representation of the intruder corresponding to a maximum range to the intruder along the direction, wherein estimating the first relative location vector and the second relative location vector is based on at least one of the time period and the angular extent; and estimating a first speed vector of the minimum representation of the intruder; and/or estimating a second speed vector of the maximum representation of the intruder.