US 12,330,020 B2
Three dimensional object tracking using combination of radar data and two dimensional image data
Dennis Jan Johansson, Vallentuna (SE); and Daniel Forsgren, Enebyberg (SE)
Assigned to Topgolf Sweden AB, Danderyd (SE)
Filed by Topgolf Sweden AB, Danderyd (SE)
Filed on Dec. 12, 2023, as Appl. No. 18/537,120.
Application 18/537,120 is a continuation of application No. 17/979,692, filed on Nov. 2, 2022, granted, now 11,883,716.
Application 17/979,692 is a continuation of application No. 17/156,115, filed on Jan. 22, 2021, granted, now 11,504,582, issued on Nov. 22, 2022.
Application 17/156,115 is a continuation of application No. 16/795,451, filed on Feb. 19, 2020, granted, now 10,898,757, issued on Jan. 26, 2021.
Claims priority of provisional application 62/964,087, filed on Jan. 21, 2020.
Prior Publication US 2024/0252885 A1, Aug. 1, 2024
Int. Cl. A63B 24/00 (2006.01); G01S 13/58 (2006.01); G01S 13/72 (2006.01); G01S 13/86 (2006.01)
CPC A63B 24/0021 (2013.01) [G01S 13/587 (2013.01); G01S 13/72 (2013.01); G01S 13/867 (2013.01); A63B 2024/0034 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method comprising:
determining an optical model of an object in flight using two dimensional image data obtained from a camera;
determining a radar model of the object in flight using radar data obtained from a radar device, wherein determining the radar model comprises checking for outliers using a multiple of a standard deviation of radar readings being added to the radar model;
adjusting the multiple of the standard deviation to balance rejecting inliers and accepting outliers;
connecting the optical model and the radar model in time; and
producing three dimensional location information of the object in flight in three dimensional space using the optical model and the radar model connected in time.