Back to results
US 11,699,240 B2Granted
Target tracking method and apparatus, and storage medium
AssigneeBeijing Sensetime Technology Development Co., Ltd.
InventorsShaohui Liu, Hongwei Qin
Life of this patent
Estimating the term…
Abstract
A target tracking method includes: obtaining feature data of a reference frame of a first image frame, wherein the first image frame and at least one second image frame have the same reference frame; and determining the position of a tracking target in the first image frame based on the feature data of the reference frame. Based on the embodiments in the present disclosure, feature data of a reference frame of a first image frame is acquired, and the position of a tracking target in the first image frame is determined based on the feature data of the reference frame.
Claims14
A target tracking method, comprising:
- obtaining feature data of a reference frame of a first image frame, wherein the first image frame and at least one second image frame have a same reference frame;
- and
- determining a position of a tracking target in the first image frame based on the feature data of the reference frame,
- wherein determining the position of the tracking target in the first image frame based on the feature data of the reference frame comprises:
- obtaining, based on the feature data of the reference frame, relative position information of the tracking target in the first image frame relative to the tracking target in the reference frame;
- and
- obtaining the position of the tracking target in the first image frame based on the relative position information and position information of the tracking target in the reference frame,
- wherein the method further comprises:
- determining whether the first image frame is used as an updated reference frame, which comprises:
- determining, based on an intersection over union between a first bounding box of the tracking target in the first image frame and a second bounding box of the tracking target in the reference frame, whether the first image frame is used as the updated reference frame, which specifically comprises:
- in response to the intersection over union between the first bounding box and the second bounding box being less than or equal to a preset threshold, determining that the first image frame is used as the updated reference frame;
- and
- in response to the intersection over union between the first bounding box and the second bounding box being greater than the preset threshold, determining that the reference frame does not need to be updated and the feature data of the reference frame is continually used for guiding a next image frame.
10 more elements
A target tracking apparatus, comprising:
- a processor;
- and
- a memory, configured for storing instructions executable by the processor, wherein the processor is configured to:
- obtain feature data of a reference frame of a first image frame, wherein the first image frame and at least one second image frame have a same reference frame;
- determine a position of a tracking target in the first image frame based on the feature data of the reference frame;
- obtain, based on the feature data of the reference frame, relative position information of the tracking target in the first image frame relative to the tracking target in the reference frame;
- and
- obtain the position of the tracking target in the first image frame based on the relative position information and position information of the tracking target in the reference frame,
- wherein the processor is configured to determine, based on an intersection over union between a first bounding box of the tracking target in the first image frame and a second bounding box of the tracking target in the reference frame, whether the first image frame is used as an updated reference frame,
- wherein the processor is specifically configured to:
- in response to the intersection over union between the first bounding box and the second bounding box being less than or equal to a preset threshold, determine that the first image frame is used as the updated reference frame;
- and
- in response to the intersection over union between the first bounding box and the second bounding box being greater than the preset threshold, determine that the reference frame does not need to be updated and the feature data of the reference frame is continually used for guiding a next image frame.
10 more elements
A non-transitory computer storage medium, configured to store computer-readable instructions that, when being executed by a processor, cause the processor to execute a target tracking method, the target tracking method comprising:
- obtaining feature data of a reference frame of a first image frame, wherein the first image frame and at least one second image frame have a same reference frame;
- and
- determining a position of a tracking target in the first image frame based on the feature data of the reference frame,
- wherein determining the position of the tracking target in the first image frame based on the feature data of the reference frame comprises:
- obtaining, based on the feature data of the reference frame, relative position information of the tracking target in the first image frame relative to the tracking target in the reference frame;
- and
- obtaining the position of the tracking target in the first image frame based on the relative position information and position information of the tracking target in the reference frame,
- wherein the target tracking method further comprises:
- determining whether the first image frame is used as an updated reference frame, which comprises:
- determining, based on an intersection over union between a first bounding box of the tracking target in the first image frame and a second bounding box of the tracking target in the reference frame, whether the first image frame is used as the updated reference frame, which specifically comprises:
- in response to the intersection over union between the first bounding box and the second bounding box being less than or equal to a preset threshold, determining that the first image frame is used as the updated reference frame;
- and
- in response to the intersection over union between the first bounding box and the second bounding box being greater than the preset threshold, determining that the reference frame does not need to be updated and the feature data of the reference frame is continually used for guiding a next image frame.
10 more elements
Dependencies are inferred from the claim text.