US 12,307,776 B2
Object tracking apparatus, object tracking system, object tracking method, display control device, object detection device, and computer-readable medium
Ryoma Oami, Tokyo (JP); and Hiroyoshi Miyano, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Filed by NEC Corporation, Tokyo (JP)
Filed on Aug. 29, 2023, as Appl. No. 18/239,597.
Application 18/239,597 is a continuation of application No. 18/131,704, filed on Apr. 6, 2023.
Application 18/131,704 is a continuation of application No. 17/388,395, filed on Jul. 29, 2021, granted, now 11,676,388, issued on Jun. 13, 2023.
Application 17/388,395 is a continuation of application No. 16/533,414, filed on Aug. 6, 2019, granted, now 11,113,538, issued on Sep. 7, 2021.
Application 16/533,414 is a continuation of application No. 14/865,521, filed on Sep. 25, 2015, granted, now 10,664,705, issued on May 26, 2020.
Claims priority of application No. 2014-196176 (JP), filed on Sep. 26, 2014; and application No. 2014-224050 (JP), filed on Nov. 4, 2014.
Prior Publication US 2023/0410515 A1, Dec. 21, 2023
Int. Cl. G06V 20/52 (2022.01); G06T 7/292 (2017.01)
CPC G06V 20/52 (2022.01) [G06T 7/292 (2017.01); G06T 2207/30196 (2013.01); G06T 2207/30241 (2013.01)] 11 Claims
OG exemplary drawing
 
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;
storing the first detection result and the second detection result generated during a predetermined time period in a buffer;
tracking the object by integrating the first detection result and the second detection result stored in the buffer;
acquiring a position of a first object in the first detection result and a position of a second object in the second detection result;
calculating a distance between the position of the first object and the position of the second object;
associating the first object and the second object in a case where the distance is less than a predetermined value;
evaluating accuracy of predicted positions of the first object and the second object;
weighting the positions of the first object and the second object based on the accuracy of the predicted positions determined by angles of cameras which capture the first image and the second image and distances from the cameras to the first object and the second object;
performing a statistical calculation regarding the weighted positions; and
deciding a position indicated by the statistical calculation and at which the accuracy is at a maximum, as a position of the object.