US 12,131,486 B2
Object tracking device, object tracking method, and recording medium
Hiroaki Igarashi, Tokyo (JP); Seiya Shibata, Tokyo (JP); and Liang Feng, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/628,317
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Jul. 25, 2019, PCT No. PCT/JP2019/029218
§ 371(c)(1), (2) Date Jan. 19, 2022,
PCT Pub. No. WO2021/014643, PCT Pub. Date Jan. 28, 2021.
Prior Publication US 2022/0284595 A1, Sep. 8, 2022
Int. Cl. G06K 9/00 (2022.01); G06T 7/12 (2017.01); G06T 7/223 (2017.01); G06T 7/70 (2017.01); G06T 7/90 (2017.01)
CPC G06T 7/223 (2017.01) [G06T 7/12 (2017.01); G06T 7/70 (2017.01); G06T 7/90 (2017.01); G06T 2207/10024 (2013.01); G06T 2207/20021 (2013.01)] 11 Claims
OG exemplary drawing
 
1. An object tracking device comprising:
a memory storing instructions; and
one or more processors configured to execute the instructions to:
detect, for each of a plurality of frames of image data input in time series, an object from the image data using one detector selected from a plurality of the detectors having different processing speeds or accuracies;
output, for each frame, an object detection result including an image of a boundary region including the detected object and information indicating detection accuracy;
match a current object detection result for a current frame with a previous object detection result for a previous frame before the current frame, by using an evaluation index based on a color histogram for each of a plurality of partial regions obtained by dividing the boundary region into a predetermined number;
generate a tracking result of the object based on a matching result; and
correct a size of the boundary region included in a first object detection result of which the detection accuracy is specified as a low detection accuracy based on a size of the boundary region included in a second object detection result having of which the detection accuracy is specified as a high detection accuracy, among two object detection results for which matching has succeeded.