US 11,885,906 B2
Multimodal sensing, fusion for machine perception
Mohammad Amin Arbabian, San Francisco, CA (US); Upamanyu Madhow, Santa Barbara, CA (US); and Babak Mamandipoor, Burlingame, CA (US)
Assigned to Plato Systems, Inc., San Carlos, CA (US)
Appl. No. 17/256,564
Filed by Plato Systems, Inc., San Carlos, CA (US)
PCT Filed Jun. 28, 2019, PCT No. PCT/US2019/040013
§ 371(c)(1), (2) Date Dec. 28, 2020,
PCT Pub. No. WO2020/006531, PCT Pub. Date Jan. 2, 2020.
Claims priority of provisional application 62/763,745, filed on Jun. 28, 2018.
Prior Publication US 2021/0156990 A1, May 27, 2021
Int. Cl. G01S 7/295 (2006.01); G01S 13/86 (2006.01); G01S 13/87 (2006.01); G01S 13/58 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/295 (2013.01) [G01S 13/867 (2013.01); G01S 13/878 (2013.01); G01S 13/582 (2013.01); G01S 13/931 (2013.01); G01S 2013/93271 (2020.01); G01S 2013/93275 (2020.01); G01S 2013/93276 (2020.01)] 26 Claims
OG exemplary drawing
 
1. A radar sensor system comprising:
multiple respective sensor units disposed upon a mobile platform such that the respective sensor units have respective nominal geometric relationships with one another;
a centralized processor;
a communication network to communicate information between the multiple respective sensor units;
wherein respective sensor units include,
a respective radar receiver to receive respective radar data representing a respective radar scene associated with the respective sensor unit;
a respective location sensor that determines a respective actual location of the respective radar receiver and that produces respective location sensor-based information indicative of the respective actual location;
a respective local processor operably coupled to a respective local non-transitory computer readable medium, the respective local non-transitory computer readable medium comprising a respective first plurality of instructions stored in association therewith that are accessible to, and executable by, the respective local processor, wherein the respective plurality of instructions includes;
instructions that, when executed, send at least a respective portion of the respective radar data and the respective location sensor-based information to the centralized processor;
wherein the centralized processor is operably coupled to a second non-transitory computer readable medium, the second non-transitory computer readable medium comprising a second plurality of instructions stored in association therewith that are accessible to, and executable by, the centralized processor, wherein the second plurality of instructions includes:
instructions that, when executed, use the respective location sensor-based information to determine respective differences between respective sensor nominal locations and respective sensor actual locations and to use the respective determined differences to fuse the respective portions of the radar data received over the network from respective sensor units to produce a wide radar aperture.