| Range-Doppler Clustering of Radar Data for Detecting Moving Objects |
|
Seongjoon Kim, Dongwon Yang, Younghun Jung, Sujin Kim, Joohong Yoon |
|
Defense Unmanned Technology Center, Agency for Defense Development |
| 이동물체 탐지를 위한 레이다 데이터의 거리-도플러 클러스터링 기법 |
|
김성준, 양동원, 정영헌, 김수진, 윤주홍 |
|
국방과학연구소 국방무인기술센터 |
|
|
| Abstract |
|
Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance are reported. In near field, several hits per an object are generated after signal processing of Radar data. Hence, clustering is an essential technique to estimate their shapes and positions precisely. This paper proposes a method of grouping hits in range-doppler domains into clusters which represent each object, according to the pre-defined rules. The rules are based on the perceptual cues to separate hits by object. The morphological connectedness between hits and the characteristics of SNR distribution of hits are adopted as the perceptual cues for clustering. In various simulations for the performance assessment, the proposed method yielded more effective performance than other techniques. |
| Key Words:
RADAR, Clustering, Pre-Clustering, Range-Doppler Image, Partial Plot |
|
PDF Links
Full text via DOI
Download Citation
