# US 11,113,538 B2 · Object tracking apparatus, object tracking system, object tracking method, display control device, object detection device, and computer-readable medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,113,538 B2 - Document ID: US11113538B2 - Status: Granted - Kind: B2 - Application number: 16/533,414 - Filed: 2019-08-06 - Published: 2020-01-30 - Granted: 2021-09-07 - Earliest claimed: 2014-09-26 - Assignees: NEC Corporation - Applicants: NEC Corporation - Inventors: Ryoma Oami; Hiroyoshi Miyano - Web page: https://patentgrep.com/patent/US11113538B2 ## CPC - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments - G06T 7/292: Multi-camera tracking - G06T 2207/30196: Human being; Person - G06T 2207/30232: Surveillance - G06T 2207/30241: Trajectory - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## 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. ## Claims ### Claim 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, a first detection result of an object from a first image; generating, via a second detector, 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 represented in a common coordinate system based on the first and second detection results; transforming the first position information of the object represented in the common coordinate system to first transformed position information of the object represented in an individual coordinate system for the first detector; transforming the first position information of the object represented in the common coordinate system to second transformed position information of the object represented in an individual coordinate system for the second detector; generating, via the first detector, a third detection result of the object from a third image based on the first transformed position information of the object; and generating, via the second detector, a fourth detection result of the object from a fourth image based on the second transformed position information of the object. ### Claim 2 (depends on 1) The object tracking system according to claim 1, wherein the at least one processor is configured to execute the instructions to perform: 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 position information of the object represented in the individual coordinate system. ### Claim 3 (depends on 2) The object tracking system according to claim 2, wherein the at least one processor is configured to execute the instructions to perform: detecting the object using a discriminator that is configured to learn image features of the object. ### Claim 4 (depends on 3) The object tracking system according to claim 3, wherein the at least one processor is configured to execute the instructions to perform: 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. ### Claim 5 (depends on 1) The object tracking system according to claim 1, wherein the at least one processor is configured to execute the instructions to perform: outputting the position information of the object represented in the common coordinate system. ### Claim 6 An object tracking method comprising: generating, via a first detector, a first detection result of an object from a first image; generating, via a second detector, 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 represented in a common coordinate system based on the first and second detection results; transforming the first position information of the object represented in the common coordinate system to first transformed position information of the object represented in an individual coordinate system for the first detector; transforming the first position information of the object represented in the common coordinate system to second transformed position information of the object represented in an individual coordinate system for the second detector; generating, via the first detector, a third detection result of the object from a third image based on the first transformed position information of the object; and generating, via the second detector, a fourth detection result of the object from a fourth image based on the second transformed position information of the object. ### Claim 7 (depends on 6) The object tracking method according to claim 6, 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 position information of the object represented in the individual coordinate system. ### Claim 8 (depends on 7) The object tracking method according to claim 7, comprising: detecting the object using a discriminator that is configured to learn image features of the object. ### Claim 9 (depends on 8) The object tracking method according to claim 8, 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. ### Claim 10 (depends on 6) The object tracking method according to claim 6, comprising: outputting the position information of the object represented in the common coordinate system. ### Claim 11 A non-transitory computer-readable medium for storing instructions which, when executed, cause a processor to perform: generating, via a first detector, a first detection result of an object from a first image; generating, via a second detector, 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 represented in a common coordinate system based on the first and second detection results; transforming the first position information of the object represented in the common coordinate system to first transformed position information of the object represented in an individual coordinate system for the first detector; transforming the first position information of the object represented in the common coordinate system to second transformed position information of the object represented in an individual coordinate system for the second detector; generating, via the first detector, a third detection result of the object from a third image based on the first transformed position information of the object; and generating, via the second detector, a fourth detection result of the object from a fourth image based on the second transformed position information of the object. ### Claim 12 (depends on 11) The non-transitory computer-readable medium according to claim 11, wherein detecting the object includes 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 position information of the object represented in the individual coordinate system. ### Claim 13 (depends on 11) The non-transitory computer-readable medium according to claim 11, wherein detecting the object is executed using a discriminator that is configured to learn image features of the object. ### Claim 14 (depends on 13) The non-transitory computer-readable medium according to claim 13, wherein the instructions which, when executed, cause the processor to perform: 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. ### Claim 15 (depends on 11) The non-transitory computer-readable medium according to claim 11, wherein the instructions which, when executed, cause the processor to perform: outputting the position information of the object represented in the common coordinate system.