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IWR6843ISK-ODS: Inquiries

Danilo A.
Mastermind 28650 points
Part Number: IWR6843ISK-ODS

Hi Team,

We would like to ask your help regarding our customer's inquiries below.

While I am working on 3D people counting dem with IWR6843ISK-ODS sensor, I have several questions I wish to know their answers if you don't mind; 

1. In general, does each data point collected/recorded by the sensor correspond to an object (the point cloud) or to a single point in the cloud?

2. Starting with the (X,Y,Z) coordinates. What do they describe? The location of the center of the point cloud?

3. How is the center of the object defined? is it based on Euclidean distance between the individual points?

4. Range: is defined as the distance from the sensor to the object. Please confirm that it is the distance to the center of the object (based on the definition above). What are the default units for this measurement?

5. Velocity: is defined as the speed of the object as detected by the sensor. Not critical, but what are the default units for this measurement?

6. Bearing: is this the direction and orientation of the object. Does this apply when the object is both stationary and when it is moving? What is the range of values for this measurement?

7. Intensity: it is not clear what this measurement is. Please send definition, value range and significance of this measurement.

8. Doppler bin: it is not clear what this measurement is. Please send definition, value range and significance of this measurement.

9. Elevation: please confirm that this is the position of the center of the object in relation to the floor. What are the default units for this measurement?

Regards,

Danilo

  • 0
    TI__Genius 14415 points

    Hello Danilo,

    Please see my answers below, mostly the answers can be found in the documents in the toolbox path below, Please look for more information there, these are the best resource for more info on this demo.

    "C:\ti\mmwave_industrial_toolbox_4_9_0\labs\people_counting\docs"

    1. In general, does each data point collected/recorded by the sensor correspond to an object (the point cloud) or to a single point in the cloud?

       - Each will be a distinct object, but there are many different data types (point cloud vs tracker vs index). See the demo implementation guide for info.

    2. Starting with the (X,Y,Z) coordinates. What do they describe? The location of the center of the point cloud?

       - Points in the point cloud don't have any real size, they only represent the single point (1D object).

    3. How is the center of the object defined? is it based on Euclidean distance between the individual points?

       - There is no center of the point cloud given. The XYZ coordinate of the track TLV does give a center of the points associated with the person/track. There is more info in the tracking guide.

    4. Range: is defined as the distance from the sensor to the object. Please confirm that it is the distance to the center of the object (based on the definition above). What are the default units for this measurement?

       - Range is in meters. It is distance from the sensor.

    5. Velocity: is defined as the speed of the object as detected by the sensor. Not critical, but what are the default units for this measurement?

       - m/s

    6. Bearing: is this the direction and orientation of the object. Does this apply when the object is both stationary and when it is moving? What is the range of values for this measurement?

       - Where are you seeing this value being reported? It is not something that is included in the UART output.

    7. Intensity: it is not clear what this measurement is. Please send definition, value range and significance of this measurement.

       - Which intensity do you mean? I think you mean SNR. The value reported with the point cloud is SNR.

    8. Doppler bin: it is not clear what this measurement is. Please send definition, value range and significance of this measurement.

       - This corresponds to velocity. Bins is just how it gets separated out of the FFT. More info is in the following documents above.

    9. Elevation: please confirm that this is the position of the center of the object in relation to the floor. What are the default units for this measurement?

       - This is elevation in sensor coordinates, not 'world coordinates'. So it is elevation angle relative to the boresight line of the sensor. It needs to be adjusted for the sensor tilt, as is performed in the visualizers.

    Regards,

    Jackson