Title:
追尾装置
Document Type and Number:
Japanese Patent JP6932098
Kind Code:
B2
Abstract:
To provide a tracking device capable of detecting a plurality of targets and stably tracking the plurality of targets while relatively reducing a calculation load.SOLUTION: A tracking device 10 comprises: a feature quantity extracting unit 2 for extracting a position and a speed of a plurality of feature points in an image; a clustering processing unit 3 for specifying a feature point group based on the position and the speed of each of the plurality of feature points; a cluster tracking unit 4 for calculating an estimated value of a position and a speed of a center of gravity of a feature point group and calculating a predicted value of the position of the center of gravity; a target detection unit 5 for cutting out a partial image including the predicted value from an image, detecting a target, and calculating a relative position with respect to a center of gravity of a center of a bounding box including the target; a target tracking unit 6 for calculating an estimated value of a target position based on the position of the center of gravity of the feature point group and the relative position; and an integration unit 7 for integrating the estimated value of the speed calculated by the cluster tracking unit 4 and an estimated value calculated by the target tracking unit 6.SELECTED DRAWING: Figure 1
Inventors:
Yokoyama Ryoaki
Morino Tomomi
Morino Tomomi
Application Number:
JP2018051548A
Publication Date:
September 08, 2021
Filing Date:
March 19, 2018
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
G06T7/215
Domestic Patent References:
| JP2013058052A | ||||
| JP2006285569A | ||||
| JP2005309740A |
Attorney, Agent or Firm:
Jun Takamura