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IWR6843AOPEVM: 3d_pplcount_demo

Cruijff
Expert 2760 points
Part Number: IWR6843AOPEVM

Hi community member,

I and my customer evaluate 3d_pplcount_demo using IWR6843AoPEVM.
We have questions about the following.

  1.  Which a parameter in the configuration determines the following values?
    Azimuth resolution (deg) = 14.5
    Elevation resolution (deg) = 58
  2. . Is "static clutter removal" enable in default config?
    I check the "AOP_6m_default.dfg" but there is not parameter of "ClutterRemoval".
  3. According to 3DPeoplecountingDemo_ConfigurationDetails.pdf, static scene processing is enable by "staticRangeAngleCfg".
    What difference is static scene enable or disable?
    What difference is between static scene and dynamic scene?
  4. 4. What is the parameter"FovCfg"?
    There is not an explanation in mmwave SDK user's Guide.

Best regards/.
Cruijff

  • 0
    TI__Mastermind 30405 points

    Hi,

    1. Which a parameter in the configuration determines the following values?
    Azimuth resolution (deg) = 14.5
    Elevation resolution (deg) = 58

    [A]: These values correspond to the physical antenna resolution of the ISK antenna and are based on the number of virtual receivers in Azimuth (which is 8 for ISK) and Elevation (2 for ISK). For AOP antenna pattern, the physical resolution is about 29 degrees in both azimuth and elevation. Please refer to the following resources to learn more on how the theory behind this.

    https://www.ti.com/lit/pdf/swra554

    Antenna Database

    2. Is "static clutter removal" enable in default config?
    I check the "AOP_6m_default.dfg" but there is not parameter of "ClutterRemoval".

    [A]: Static Clutter removal is always enabled in indoor people counting demos as they use the Capon beamforming detection chain. Please refer to the following thread: https://e2e.ti.com/support/sensors/f/1023/t/939467

    3. According to 3DPeoplecountingDemo_ConfigurationDetails.pdf, static scene processing is enable by "staticRangeAngleCfg".
    What difference is static scene enable or disable?
    What difference is between static scene and dynamic scene?

    [A]: This command corresponds to the separate processing run to detect non-human static targets, using traditional beamforming (bartlett beamforming). The reason this is done separately is because static clutter removal is always enabled in the capon beamforming chain which is used for the dynamic scene processing. I will provide more detail on this in a follow-up response by Wednesday, but note that the static output is not used by the tracker.

    4. What is the parameter"FovCfg"?
    There is not an explanation in mmwave SDK user's Guide.

    These commands are specific to this demo as mentioned in the included document 3DPeoplecountingDemo_ConfigurationDetails.pdf. The parameters in this command control the angle field of view used by the detection chain in Azimuth and Elevation respectively. As noted on page 10 of  3DPeoplecountingDemo_ConfigurationDetails.pdf, these values are tightly connected with the memory requirements of the detection chain. And the provided values are selected for optimal performance in the wall mount scenario so they should not be changed.

    Thanks

    -Nitin 

     

  • 0 in reply to Nitin Sakhuja
    Expert 2760 points

    Hi Nitin,

    Thank you for your answer!

    I have a favor to ask again.

    4-1. I understand FovCfg is an original parameter in People Counting demo.
    Is it correct that Azimuth FoV is ±35 degrees(70 degrees) and Elevation FoV is ±10 degrees(20 degrees)?

    Best regards.
    Cruijff 

  • 0 in reply to Cruijff
    TI__Mastermind 30405 points

    Hi Cruijff,

    70 degrees azimuth means a total azimuth search FoV of 140 degrees (±70). Actually this value is higher than the physical FoV of the antenna (~130 degree) and should be lowered down to 60 - 65 degrees.

    Similarly, 20 degree elevation means a total elevation search FoV of 40 degrees (±20).

    Regards

    -Nitin

  • 0 in reply to Nitin Sakhuja
    Expert 2760 points

    Hi Nitin,

    Thank you for your answer!
    I'll share your information with my customer.

    I'm looking forward to your more detail comment for question of No.3.

     > I will provide more detail on this in a follow-up response by Wednesday, but note that the static output is not used by the tracker.

    Best regards.
    Cruijff

  • 0 in reply to Cruijff
    TI__Mastermind 30405 points

    Hi Cruijff,

    The static processing is run separate than the dynamic scene processing. An average is computed on the output of Range FFT output for each range bin and antenna. This gives the zero doppler (static clutter) signal for each range bin and antenna, which is the input to the static scene processing using traditional (Bartlett) beamforming.

    Bartlett beamforming is used to construct range-azimuth-elevation heatmap at coarse angle resolution. A CFAR is run on the range-angle heatmap, and detect the [range, azimuth, elevation] indices of the static clutter targets. The estimation quality is not as good as the dynamic scene processing which uses the Capon beam forming technique and provides a higher angle resolution.

    As stated previously, the output of static chain is not used by the tracker and hence it is disabled in this demo.

    Regards

    -Nitin