Patent Document ID: 9489746
Application ID: 14819478
Patent Status: 1

Claim One:
1. A system for tracking a target from lidar measurements and video images, the system comprising: a lidar subsystem configured to direct a beam toward the target and to provide a range measurement and a Doppler velocity measurement for each of a plurality of points on the target; a video subsystem configured to capture a plurality of two-dimensional images of the target; and a processor configured to: receive, from the lidar subsystem, the range measurement and the Doppler velocity measurement for each of the plurality of points on the target, receive, from the video subsystem, the plurality of images of the target, estimate a translational velocity component v z trans and angular velocity components ω x and ω y for each of the plurality of points on the target from the range measurements and the Doppler velocity measurements from the lidar subsystem, estimate translational velocity components v x trans and v y trans and the angular velocity component ω z for each of the plurality of points on the target from two-dimensional position and velocity measurements of at least one feature of the target obtained from the plurality of images of the target and from the estimated velocity component v z trans and the estimated angular velocity components ω x and ω y , and generate a three-dimensional image of the target using the estimated translational velocity components v x trans , v y trans , and v z trans and the estimated angular velocity components ω x , ω y and ω z .