To obtain required tracking stability while three or more tracking systems are in parallel regarding a multimode tracking system.
This multimode tracking system is provided with a tracking point calculating part that extracts a target area from image data picked up by a camera, etc., extracts its field of view center image and employs an area centroid tracking system, a tracking point calculating part that employs a peak point tracking system and a tracking point calculating part that employs a correlation tracking system. A means for calculating a tracking success probability of a plurality of components corresponding to each tracking system is included. A means for multiplying a plurality of respective tracking success probabilities corresponding to each tracking system by a weighting coefficient and adding respective multiplication results is included, and an automatic tracking system selection and determination processing part determines and selects a tracking system with the highest value by comparing addition results of the respective tracking systems, and a tracking error value by the selected tracking system is outputted so as to perform tracking control.
Akira Yamatani
Yoshiyoshi Ogasawara
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