Abstract: A method for classifying tracks in radar detections of a scene acquired by a stationary radar unit, comprises: acquiring radar detections of the scene using the static radar unit; feeding at least a portion of the radar detections into a tracker module for producing track-specific feature data indicating a specific track in the scene, feeding at least a portion of the radar detections into a scene model comprising information about scene-specific features aggregated over time, and information indicating areas in the scene with expected ghost target detections and areas with expected real target detections, wherein at least a subset of the scene-specific features is determined from the radar detections; classifying the specific track as belonging to a real target or to a ghost target by relating the specific track to a position in the scene model.

Abstract: A method for mapping a static scene using a stationary radar unit operative to transmit radar signals towards a scene, the stationary radar unit comprises a set of receiver antennas configured to detect radar signals from arbitrary directions, and the stationary radar unit is configured to measure target velocity in discrete velocity bins, the method comprising: continuously collecting radar signals over time to detect a static scene using the set of receiver antennas; constructing an occupancy map of the static scene using confirmed detections determined from the collected radar signals, where confirmed detections are detections with radar signal strength exceeding a detection threshold and with velocity falling in a zero velocity bin and detections with radar signal strength exceeding the detection threshold and with a non-zero velocity sufficiently low to cause spill over information in the same bin as detections falling in the zero velocity bin.

Abstract: Apparatus are provided for generating an object classification for an object, the apparatus comprising an image sensor, a radar sensor, and a processing unit, the processing unit configured to perform the steps of: receiving image data for the object from the image sensor, operating an image-based object classifier on the image data to generate an image-based object classification, receiving radar data for the object from the radar sensor, operating a radar-based object classifier on the radar data to generate a radar-based object classification, selecting between the image-based object classification and the radar-based object classification to output as the object classification for the object, determining if a training condition is met by the radar-based object classification, and training the radar-based object classifier using the image-based object classification when the training condition is met by the radar-based object classification.

Abstract: A method, device and system for generating a transformation function, mapping position detections of objects in a scene, detected with a positioning device, to a graphical representation of the scene. The teachings enable the detected positions by the positioning device to be mapped to the graphical representation of the monitored scene without the need of previous references to geographical coordinate systems for the positioning device and the graphical representation of the scene. Virtually any type of image may hence be used as a graphical representation of the scene, even hand-drawn sketches.

Abstract: Apparatus are provided for generating an object classification for an object, the apparatus comprising an image sensor, a radar sensor, and a processing unit, the processing unit configured to perform the steps of: receiving image data for the object from the image sensor, operating an image-based object classifier on the image data to generate an image-based object classification, receiving radar data for the object from the radar sensor, operating a radar-based object classifier on the radar data to generate a radar-based object classification, selecting between the image-based object classification and the radar-based object classification to output as the object classification for the object, determining if a training condition is met by the radar-based object classification, and training the radar-based object classifier using the image-based object classification when the training condition is met by the radar-based object classification.

Abstract: A method (200) of determining a transformation matrix for transformation of ranging data from a first coordinate system for the ranging sensor to a second coordinate system for an image sensor is disclosed. The method comprises providing (201) a ranging sensor and an image sensor; acquiring (202) a ranging frame sequence, and an image frame sequence; determining (203) points of motion in frames of each acquired frame sequence; for each frame in one of the frame sequences: evaluating (204) if a single motion point has been determined in the frame, and if a single motion point has been determined, evaluating (206) if a single motion point has been determined in a temporally corresponding frame of the other frame sequence and, in that case, pairing (207) the temporally corresponding frames, whereby a set of frame pairs is formed, and determining (209) the transformation matrix based on the set of frame pairs.

Abstract: A method for, in a map of background objects, registering presence of a stationary object exhibiting motion at a location in a scene monitored by a radar detector comprising detecting over time radar echoes at a radar detector monitoring a scene. The moving object is one of a true moving object or a stationary object exhibiting motion. The over time detected radar echoes are evaluated for finding a stationary object exhibiting motion. The presence of the stationary object exhibiting motion is registered at a location, corresponding to the location of the stationary object exhibiting motion, in a map of background objects. A method for detecting moving objects using a radar detector is also presented wherein the map of background objects is used as input.

Abstract: A method (200) of determining a transformation matrix for transformation of ranging data from a first coordinate system for the ranging sensor to a second coordinate system for an image sensor is disclosed. The method comprises providing (201) a ranging sensor and an image sensor; acquiring (202) a ranging frame sequence, and an image frame sequence; determining (203) points of motion in frames of each acquired frame sequence; for each frame in one of the frame sequences: evaluating (204) if a single motion point has been determined in the frame, and if a single motion point has been determined, evaluating (206) if a single motion point has been determined in a temporally corresponding frame of the other frame sequence and, in that case, pairing (207) the temporally corresponding frames, whereby a set of frame pairs is formed, and determining (209) the transformation matrix based on the set of frame pairs.

Abstract: A method for, in a map of background objects, registering presence of a stationary object exhibiting motion at a location in a scene monitored by a radar detector comprising detecting over time radar echoes at a radar detector monitoring a scene. The moving object is one of a true moving object or a stationary object exhibiting motion. The over time detected radar echoes are evaluated for finding a stationary object exhibiting motion. The presence of the stationary object exhibiting motion is registered at a location, corresponding to the location of the stationary object exhibiting motion, in a map of background objects. A method for detecting moving objects using a radar detector is also presented wherein the map of background objects is used as input.

Abstract: A method, device and system for generating a transformation function, mapping position detections of objects in a scene, detected with a positioning device, to a graphical representation of the scene. The teachings enable the detected positions by the positioning device to be mapped to the graphical representation of the monitored scene without the need of previous references to geographical coordinate systems for the positioning device and the graphical representation of the scene. Virtually any type of image may hence be used as a graphical representation of the scene, even hand-drawn sketches.