Object tracking apparatus, object tracking system, object tracking method, display control device, object detection device, and computer-readable medium

Abstract

An object tracking apparatus, method and computer-readable medium for detecting an object from output information of sensors, tracking the object on a basis of a plurality of detection results, generating tracking information of the object represented in a common coordinate system, outputting the tracking information, and detecting the object on a basis of the tracking information.

1 . An object tracking system comprising:
 at least one memory storing instructions; and   at least one processor configured to execute the instructions to perform:
 generating, via a first detector implemented by the at least one processor, a first detection result of an object from a first image; 
 generating, via a second detector implemented by the at least one processor, a second detection result of the object from a second image, the second image being different from the first image; 
 calculating first position information of the object based on the first and second detection results; 
 transforming the first position information of the object to first transformed position information of the object represented in an individual coordinate system for the first detector. 
   
     
     
         2 . The object tracking system according to  claim 1 , wherein
 the first position information of the object is represented in a common coordinate system.   
     
     
         3 . An object tracking method comprising:
 generating, via a first detector implemented by the at least one processor, a first detection result of an object from a first image;   generating, via a second detector implemented by the at least one processor, a second detection result of the object from a second image, the second image being different from the first image;   calculating first position information of the object based on the first and second detection results;   transforming the first position information of the object to first transformed position information of the object represented in an individual coordinate system for the first detector.   
     
     
         4 . The object tracking method according to  claim 3 , wherein
 the first position information of the object is represented in a common coordinate system.   
     
     
         5 . The object tracking method according to  claim 3 , comprising:
 detecting the object in a searching area of one of the first and second images represented in the individual coordinate system for each of the first and second detectors, wherein the searching area is based on the first position information of the object represented in the individual coordinate system for the first detector and the second position information of the object represented in the individual coordinate system for the second detector.   
     
     
         6 . The object tracking method according to  claim 3 , comprising:
 detecting the object using a discriminator that is configured to learn image features of the object.   
     
     
         7 . The object tracking method according to  claim 6 , comprising:
 integrating a detection result of the object using the discriminator and a detection result of the object using template matching between an object region detected from a previous frame and an object region detected from a current frame.   
     
     
         8 . The object tracking method according to  claim 3 , comprising:
 outputting the position information of the object represented.   
     
     
         9 . A non-transitory computer-readable medium for storing instructions which, when executed, cause a processor to perform:
 generating, via a first detector implemented by the at least one processor, a first detection result of an object from a first image;   generating, via a second detector implemented by the at least one processor, a second detection result of the object from a second image, the second image being different from the first image;   calculating first position information of the object based on the first and second detection results;   transforming the first position information of the object to first transformed position information of the object represented in an individual coordinate system for the first detector.   
     
     
         10 . The non-transitory computer-readable medium according to  claim 9 , wherein
 the first position information of the object is represented in a common coordinate system.