Sonar and Radar SAR processing for Parking Lot Detection - CiteSeerX

Conclusions. Bibliography. Bibliography II. Huaming Wu and T. Zwick. A novel motion compensation algorithm for automotive sar : Simulations and experiments.
9MB taille 2 téléchargements 271 vues
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

-1 -

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

-2 -

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

-4 -

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

-5 -

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

-6 -

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

-9 -

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

J. Mure-Dubois/ 08.09.2011

- 13 -

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

J. Mure-Dubois/ 08.09.2011

- 14 -

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

J. Mure-Dubois/ 08.09.2011

- 14 -

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

- 15 -

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.

J. Mure-Dubois/ 08.09.2011

- 16 -

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.

J. Mure-Dubois/ 08.09.2011

- 17 -