FMCW Radar Object Tracking Message Format

This message format defines a standardized way to represent tracked objects from an FMCW radar. This format is designed to be used within a robotics system, such as ROS, to facilitate data exchange and processing.

Note: This message is not meant to be used alone but as part of a stamped or array message.

Frame of Reference

All variables below are relative to the radar's frame of reference.

Object Classifications

The 'classification' field uses the following standard classifications. Additional vendor-specific classifications are permitted starting from 32000 (e.g., Car).

• uint16 NO_CLASSIFICATION=0
• uint16 STATIC=1
• uint16 DYNAMIC=2

Message Fields

• unique_identifier_msgs/UUID uuid: A unique ID of the object generated by the radar.
• geometry_msgs/Point position: x, y, z coordinates of the centroid of the object being tracked. Note: The z component of these fields is ignored for 2D tracking.
• geometry_msgs/Vector3 velocity: The velocity of the object in each spatial dimension.
• geometry_msgs/Vector3 acceleration: The acceleration of the object in each spatial dimension.
• geometry_msgs/Vector3 size: The object size in the sensor frame. For example, length, width, and height, or the diameter of an ellipsoid in the x, y, z dimensions.
• uint16 classification: An optional classification of the object (see above).
• float32[6] position_covariance: Upper-triangle covariance about the x, y, z axes.
• float32[6] velocity_covariance: Upper-triangle covariance about the x, y, z axes.
• float32[6] acceleration_covariance: Upper-triangle covariance about the x, y, z axes.
• float32[6] size_covariance: Upper-triangle covariance about the x, y, z axes.

Usage in ARS408 Millimeter-Wave Radar

This message type is used in the ARS408 millimeter-wave radar to describe tracked objects. This includes information such as position, velocity, acceleration, size, and classification. The message can be combined with other message types, such as Stamped or Array messages, to track and process multiple objects. Refer to the ARS408 millimeter-wave radar user manual or related documentation for specific usage instructions.