Patent ID: 6664918
Filing Date: 2003-12-16
Classification: G01S

Abstract:
A method of determining the approximate shapes, sizes and locations of one or more objects based on range measurements of a plurality of range sensors, said method comprising the steps of:(1) obtaining from said sensors a plurality of range measurements; (2) correlating said range measurements of said plurality of sensors to generate a list of potential objects, each of said objects being based on a plurality of range measurements; (3) for each potential object on said list, calculating a plurality of locations of said object assuming said object has a plurality of predefined shapes, wherein each of said calculated locations of said plurality of locations corresponds to one of the predefined shapes of said plurality of predefined shapes; (4) for each potential object, calculating an error metric for each of said calculated locations, said error metrics indicative of a difference between said corresponding calculated location of said object and said range measurements upon which said object is based; and (5) for each potential object on said list, determining that said potential object has the shape corresponding to the lowest error calculated in step (4).