Disclosed herein are an apparatus and method for monitoring a surrounding environment of a vehicle, the apparatus including a sensor unit including a plurality of detection sensors for detecting an object outside a vehicle according to a frame at a predefined period, and a controller configured to extract a stationary object from among the outside objects detected by the sensor unit, to map the extracted stationary object to a grid map, to calculate an occupancy probability parameter, indicative of a probability that the stationary object will be located on a grid of the grid map, from the result of mapping, and to monitor the surrounding environment of the vehicle by specifying a grid on which the stationary object is located in the grid map, based on the occupancy probability parameter.

A method with grid map generation includes: determining position information of a moving object corresponding to a first time step based on a position sensor of the moving object; determining detection information of nearby objects present around the moving object corresponding to the first time step based on a radio detection and ranging (radar) sensor of the moving object; selecting a still object in a moving range of the moving object from among the nearby objects, based on the position information and the detection information; updating a point cloud determined based on the radar sensor in a previous time step of the first time step, based on the position information and on detection information of the still object comprised in the detection information of the nearby objects; and generating a grid map based on an occupancy probability for each grid of the updated point cloud.

Techniques and apparatuses are described that implement motion classification using low-level detections. In particular, a radar system identifies fused detections associated with an object and determines whether the fused detections indicate that the object is moving. If it is determined to be moving or moving perpendicular to the host vehicle, a current motion counter or perpendicular motion counter is incremented, respectively. A current motion flag and/or a perpendicular motion flag are set as true if the current motion counter or the perpendicular motion counter has a value greater than a threshold value, respectively. In response to setting either flag as true, the radar system increments a historical motion counter as true. The host vehicle is then operated based on the current motion flag, the perpendicular motion flag, and the historical motion counter. In this way, the radar system introduces hysteresis to improve the reliability and stability of motion classification.

Techniques and apparatuses are described that implement motion classification using low-level detections. In particular, a radar system identifies fused detections associated with an object and determines whether the fused detections indicate that the object is moving. If it is determined to be moving or moving perpendicular to the host vehicle, a current motion counter or perpendicular motion counter is incremented, respectively. A current motion flag and/or a perpendicular motion flag are set as true if the current motion counter or the perpendicular motion counter has a value greater than a threshold value, respectively. In response to setting either flag as true, the radar system increments a historical motion counter as true. The host vehicle is then operated based on the current motion flag, the perpendicular motion flag, and the historical motion counter. In this way, the radar system introduces hysteresis to improve the reliability and stability of motion classification.

Aspects of the disclosed technology provide solutions for performing odometry and in particular, for performing odometry by filtering moving objects from a scene using sensor data. In some aspects, a process can include steps for receiving a first set of sensor data corresponding with a plurality of objects in a scene, determining one or more moving objects and one or more stationary objects from among the plurality of objects, and receiving a second set of sensor data. In some aspects, the process can further include steps for filtering the second set of sensor data to remove data associated with the one or more moving objects and generating odometry data associated with the filtered second set of sensor data. Systems and machine-readable media are also provided.

Aspects of the disclosed technology provide solutions for performing odometry and in particular, for performing odometry by filtering moving objects from a scene using sensor data. In some aspects, a process can include steps for receiving a first set of sensor data corresponding with a plurality of objects in a scene, determining one or more moving objects and one or more stationary objects from among the plurality of objects, and receiving a second set of sensor data. In some aspects, the process can further include steps for filtering the second set of sensor data to remove data associated with the one or more moving objects and generating odometry data associated with the filtered second set of sensor data. Systems and machine-readable media are also provided.

The computer-implemented method includes simulating, by a processor, using an electromagnetic solver including ray launching or ray tracing, multiple rays that reach a vicinity of a receiver of a wireless channel, determining locations of interactions of the rays with an environment of the wireless channel, post-processing, using one or more of the multiple rays, information about received signal at the receiver to obtain temporal variations therein, and determining a characteristic of the wireless channel using results of the post-processing.

A method includes transmitting, via a transceiver, radar signals for object detection. The method includes determining whether a moving object is detected using received reflections of the radar signals corresponding to a current radar frame. In response to a determination that no moving object is detected using the current radar frame, the method includes determining whether a moving object is detected using received reflections of the radar signals corresponding to multiple radar frames. The method also includes generating a detection result indicating that (i) no moving object is detected using the multiple radar frames or (ii) the moving object is detected using either the current radar frame or the multiple radar frames.

An electronic device includes a processor operably connected to a radar transceiver. The processor is configured to transmit, via the radar transceiver, radar signals to detect an object. The processor is also configured to detect the object using a single radar frame or multiple radar frames from the radar signals. The processor is further configured to determine whether to use the single radar frame or the multiple radar frames based on motion of the object for angle identification between the object and the electronic device. Additionally, the processor is configured to identify the angle using the single radar frame based on a determination to use the single radar frame or the multiple radar frames based on a determination to use the multiple radar frames. The processor is also configured to modify radio frequency exposure levels based on the angle of the object relative to the electronic device.

A monitoring system for monitoring a monitoring area according to one or more embodiments may include a first sensor for detecting movement of a moving object in the monitoring area, a second sensor for determining entry and exit of a person in the monitoring area, and a control device connected to the first sensor and the second sensor. When the first sensor detects movement of the moving object, the control device is configured to determine entry and exit of a person in the monitoring area by referring to a detection result by the second sensor.