Patent Document ID: 4855932
Application ID: 07071085
Patent Status: 1

Claim One:
1. An electro-optical tracker for tracking a target moving in three-dimensional space, comprising: a servo-controlled electro-optical sensor having an image data output; a range sensor for detecting the distance between the sensor and the target, the range sensor having an output; preprocessing means responsive to the output of the electro-optical sensor and the range sensor, the preprocessing means having an output; and Kalman filter means for generating a predicted position, velocity, and acceleration of the target, the Kalman filter means being connected to the output of the preprocessing means and including an interface for controlling the servos of the electro-optical sensor; the Kalman filter means including prediction means for generating a predicted position, velocity, and acceleration of the target; and modeling means for generating a predicted two-dimensional image from a projection of the target in space, where the target is represented in the filter by a three-dimensional object.