Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
Sonar and Radar SAR processing for Parking Lot Detection
Introduction SAR processing Experiments
James Mure-Dubois, Fran¸cois Vincent, David Bonacci
Conclusions
IRS 2011 - 08.09.2011
J. Mure-Dubois/ 08.09.2011
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Problem definition - Parking Lot Detection Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
Main idea Realize new functions with existing 77GHz radar sensors (cf. [WZ09, WZ10])
Introduction Problem definition Motivation for SAR processing Radar and Sonar systems SAR processing Experiments Conclusions
Parking Lot Detection function As the carrier vehicle moves, a radar maps the area surrounding the vehicle.
J. Mure-Dubois/ 08.09.2011
-2 -
Problem definition - Parking Lot Detection Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
Main idea Realize new functions with existing 77GHz radar sensors (cf. [WZ09, WZ10])
Introduction Problem definition Motivation for SAR processing Radar and Sonar systems SAR processing Experiments Conclusions
Parking Lot Detection function As the carrier vehicle moves, a radar maps the area surrounding the vehicle. The collected radar data is processed to compose a high resolution map. The map allows identifying suitableJ. parking spots. Mure-Dubois/ 08.09.2011
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Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition Motivation for SAR processing
x0
x
v
Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition
x0
x
Motivation for SAR processing Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition
x0
x
Motivation for SAR processing Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition
x0
x
Motivation for SAR processing Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition
x0
x
Motivation for SAR processing Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition Motivation for SAR processing
x
x0
v
Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Motivation for SAR processing Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
y
y0
Introduction Problem definition Motivation for SAR processing
x0
x
Synthetic Array Length
Radar and Sonar systems SAR processing Experiments
High cross-range resolution requires large antennas
Conclusions
Embedded radars must have small dimensions Synthetic Aperture Radar (SAR) allows emulating a large antenna with a smaller sensor SAR processing requires coherent integration for the whole time where the target passes through the antenna beam J. Mure-Dubois/ 08.09.2011
-3 -
Radar and Sonar systems Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois
Radar system Prototype based on a commercial autmotive CW radar Operation around 77GHz → λ = 3.9mm
Introduction Problem definition Motivation for SAR processing Radar and Sonar systems
Ultrasound sonar system Assembled for teaching activities at ISAE [VMC+ 07] Uses a configurable pulse waveform
SAR processing
Total motion during SAS measurement : 3m
Experiments
λ = 8.5mm
Conclusions
J. Mure-Dubois/ 08.09.2011
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SAR hyperbolic geometry Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing
r (x)2 = (x − x0 )2 + y02
SAR hyperbolic geometry Spatio-temporal stripmap SAR Range-Doppler algorithm with RCC Monochromatic Range-Doppler algorithm Experiments
In the radar’s frame of reference, each point target follows an hyperbolic path : the PSF is 2D o n √ f +α cr ) y02 +(x−x0 )2 −j 4π c ( c h (x − x0 , r ; y0 ) = e
Conclusions
Hyperbolas curvature gets higher as targets move closer to the radar’s path Range curvature compensation is important for scenes with wide range swath. J. Mure-Dubois/ 08.09.2011
-5 -
SAR hyperbolic geometry Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing
r (x)2 = (x − x0 )2 + y02
SAR hyperbolic geometry Spatio-temporal stripmap SAR Range-Doppler algorithm with RCC Monochromatic Range-Doppler algorithm Experiments
In the radar’s frame of reference, each point target follows an hyperbolic path : the PSF is 2D o n √ f +α cr ) y02 +(x−x0 )2 −j 4π c ( c h (x − x0 , r ; y0 ) = e
Conclusions
Hyperbolas curvature gets higher as targets move closer to the radar’s path Range curvature compensation is important for scenes with wide range swath. J. Mure-Dubois/ 08.09.2011
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Spatio-temporal stripmap SAR Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Range Compression
J. Mure-Dubois Introduction SAR processing SAR hyperbolic geometry
Bin select Bin select sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1))
Spatio-temporal stripmap SAR Range-Doppler algorithm with RCC Monochromatic Range-Doppler algorithm Experiments Conclusions
PSF estim. PSF estim.
sy0 (x) sy1 (x)
Bin write Bin write
Azimuth Compression
I (x,y)
Azimuth compression requires to estimate the PSF for each position and range bin The matched filter is applied to each range bin individually J. Mure-Dubois/ 08.09.2011
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Range-Doppler algorithm with RCC Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Range Compression
J. Mure-Dubois Introduction
Azimuth FFT
PSF estim.
SAR processing SAR hyperbolic geometry
S (Kx,r)
H* (Kx,r(x0,y))
Spatio-temporal stripmap SAR Range-Doppler algorithm with RCC Monochromatic Range-Doppler algorithm Experiments Conclusions
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
The PSF is estimated for a reference position but for each range bin. The matched filter is applied to each range bin individually. J. Mure-Dubois/ 08.09.2011
-7 -
Monochromatic Range-Doppler algorithm Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Range Compression
J. Mure-Dubois Introduction
Azimuth FFT
PSF estim.
SAR processing SAR hyperbolic geometry
S (Kx,r)
H* (Kx,r(x0,y0))
Spatio-temporal stripmap SAR Range-Doppler algorithm with RCC Monochromatic Range-Doppler algorithm Experiments Conclusions
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
The PSF is estimated for a single reference position and range. The same matched filter is applied to all range bins (memory savings in embedded application). J. Mure-Dubois/ 08.09.2011
-8 -
Ultrasound SAS system Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
Tests Small target (PSF) Empty parking place Occupied parking place
J. Mure-Dubois/ 08.09.2011
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Ultrasound SAS system PSF Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 10 -
Ultrasound SAS system PSF Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 10 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
Monochromatic Range-Doppler defocus Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1)) sy0 (x) sy1 (x)
J. Mure-Dubois
Bin write Bin write
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
Conclusions
H* (Kx,r(x0,y0)) Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
J. Mure-Dubois/ 08.09.2011
- 11 -
SAS for extended objects Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
Objects boundaries are not clearly defined in raw data J. Mure-Dubois/ 08.09.2011
- 12 -
SAS for extended objects Sonar and Radar SAR processing for Parking Lot Detection
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y)) Sm(Kx,y)
J. Mure-Dubois
Azimuth IFFT
Azimuth Compression
I (x,y)
Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system
s (x,r)
Azimuth FFT
PSF estim.
H* (Kx,r(x0,y)) Sm(Kx,y)
Azimuth IFFT
Conclusions
Range Compression
S (Kx,r)
Azimuth Compression
I (x,y)
Objects boundaries are not clearly defined in raw data SAS image is sharper, allows to separate objects J. Mure-Dubois/ 08.09.2011
- 12 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene
J. Mure-Dubois Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y0))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness.
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y))
Introduction SAR processing
Sm(Kx,y)
Azimuth IFFT
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness. When range curvature is compensated for, the output image is as sharp as an image produced with the slow space-time SAR method
J. Mure-Dubois/ 08.09.2011
- 13 -
Sonar and Radar SAR processing for Parking Lot Detection
Monochromatic SAS focusing, extended scene s (x,r)
J. Mure-Dubois
Bin select Bin select
Range Compression
PSF estim. PSF estim.
sr (x) sr (x)
h* (x,r(x,y0)) h* (x,r(x,y1))
Introduction SAR processing
sy0 (x) sy1 (x)
Bin write Bin write
Azimuth Compression
I (x,y)
Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
When using monochromatic methods, focus distance has a strong influence on map sharpness. When range curvature is compensated for, the output image is as sharp as an image produced with the slow space-time SAR method
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77GHz radar system Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing Experiments SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
Objects boundaries are difficult to locate in raw data
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77GHz radar system Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois s (x,r)
Introduction
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y))
SAR processing
Sm(Kx,y)
Azimuth IFFT
Experiments
Azimuth Compression
I (x,y)
SAS system SAS PSF SAS for extended objects 77GHz SAR system Conclusions
Objects boundaries are difficult to locate in raw data SAR image brings a significant sharpness improvement
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Conclusions Sonar and Radar SAR processing for Parking Lot Detection
Summary Two low complexity SAR processing methods for parking lot detection were compared :
J. Mure-Dubois Introduction
Range-Doppler with range curvature compensation Monochromatic range-Doppler
SAR processing Experiments Conclusions Conclusions
Ultrasound SAS system allowed to quantify PSF degradation in monochromatic range-Doppler.
Bibliography
s (x,r)
Azimuth FFT
Range Compression
PSF estim.
S (Kx,r)
H* (Kx,r(x0,y)) Sm(Kx,y)
Azimuth IFFT
I (x,y)
Azimuth Compression
Results were validated on a 77GHz CW radar prototype, on extended targets. Possible improvements Study robustness against errors introduced by radar carrier motion J. Mure-Dubois/ 08.09.2011
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Bibliography I Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing Experiments Conclusions Conclusions Bibliography
F. Vincent, B. Mouton, E. Chaumette, C. Nouals, and O. Besson. Synthetic aperture radar demonstration kit for signal processing education. In Acoustics, Speech and Signal Processing, 2007. ICASSP 2007. IEEE International Conference on, volume 3, pages III–709 –III–712, april 2007. Huaming Wu and T. Zwick. Automotive sar for parking lot detection. In German Microwave Conference, 2009, pages 1 –8, mar 2009.
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Bibliography II Sonar and Radar SAR processing for Parking Lot Detection J. Mure-Dubois Introduction SAR processing Experiments Conclusions Conclusions Bibliography
Huaming Wu and T. Zwick. A novel motion compensation algorithm for automotive sar : Simulations and experiments. In German Microwave Conference, 2010, pages 222 –226, Berlin, March 2010.
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