A method for detecting, localizing, reporting, and displaying potholes on a road, in a system comprising a sensing device mounted on a vehicle, a cartography display, and a control unit, the sensing device comprising at least a radar device, the method comprising scanning with the sensing device an area of interest in front of and ahead the vehicle, the area of interest including at least a surface of a road traveled by the vehicle, the sensing device outputting a data flow; identifying first candidate potholes formed on the road surface; further processing the data flow to find out first confirmed potholes among the first candidates potholes; allocating a geolocation to each of the first confirmed potholes; and displaying, on the cartography display, first potholes with their localization superimposed on the map.

Described is a lawn mower robot comprising: a frame; cutting means configured for cutting grass, adjusting the height; movement means, associated with the frame for moving it along a working trajectory in a feed direction; a system for detecting the presence of grass in an area of ground along the working trajectory in the feed direction; a computerised command and control unit operatively associated with said cutting means, movement means and detection system; said detection system comprises a radar sensor configured for sending an electromagnetic wave towards the ground, receiving a reflected electromagnetic wave from the ground and transmitting a signal representing said reflected electromagnetic wave to the command and control unit.

A radar image processing device is provided for generating a radar image from a region of interest (ROI). The radar image processing device receives transmitted radar pulses and radar echoes reflected from the ROI at different positions along a path of a moving radar platform and stores computer-executable programs including a range compressor, a graph modeling generator, a signal aligner, a radar imaging generator and a focused image generator. The radar image processing device performs range compression on the radar echoes by deconvolving the transmitted radar pulses and a radar measurement to obtain frequency-domain signals, generate a graph model represented by sequential positions of the moving radar platform and a graph shift matrix computed using the frequency-domain signals, iteratively denoise and align the frequency-domain signals to obtained denoised data and time shifts by solving a graph-based optimization problem represented by the graph model, wherein the approximated time shifts compensate phase misalignments caused by perturbed positions of the moving radar platform, and perform radar imaging based on the denoised data and the estimated time shifts to generate focused radar images.

A radar image processing device is provided for generating a radar image from a region of interest (ROI). The radar image processing device receives transmitted radar pulses and radar echoes reflected from the ROI at different positions along a path of a moving radar platform and stores computer-executable programs including a range compressor, a graph modeling generator, a signal aligner, a radar imaging generator and a focused image generator. The radar image processing device performs range compression on the radar echoes by deconvolving the transmitted radar pulses and a radar measurement to obtain frequency-domain signals, generate a graph model represented by sequential positions of the moving radar platform and a graph shift matrix computed using the frequency-domain signals, iteratively denoise and align the frequency-domain signals to obtained denoised data and time shifts by solving a graph-based optimization problem represented by the graph model, wherein the approximated time shifts compensate phase misalignments caused by perturbed positions of the moving radar platform, and perform radar imaging based on the denoised data and the estimated time shifts to generate focused radar images.

The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position (P) of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

Aspects of the disclosure are directed towards obstacle position and extent measurement. In accordance with one aspect, obstacle detection includes creating one or more interferometric measurements to generate a flow of response position locations using a flow of range/Doppler detections by fitting a parametric expression; and deriving one or more scatterer positions and obstacle position and extent measurements from the flow of response position locations.

Described is a lawn mower robot comprising: a frame; cutting means configured for cutting grass, adjusting the height; movement means, associated with the frame for moving it along a working trajectory in a feed direction; a system for detecting the presence of grass in an area of ground along the working trajectory in the feed direction; a computerised command and control unit operatively associated with said cutting means, movement means and detection system;
said detection system comprises a radar sensor configured for sending an electromagnetic wave towards the ground, receiving a reflected electromagnetic wave from the ground and transmitting a signal representing said reflected electromagnetic wave to the command and control unit.

The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position (P) of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

Aspects of the disclosure are directed towards obstacle position and extent measurement. In accordance with one aspect, obstacle detection includes creating one or more interferometric measurements to generate a flow of response position locations using a flow of range/Doppler detections by fitting a parametric expression; and deriving one or more scatterer positions and obstacle position and extent measurements from the flow of response position locations.