Method and apparatus with object tracking

A processor-implemented method, the method comprising:

• generating a feature map of a search image;
• generating a feature score map based on the generated feature map of the search image, and an obtained feature map for a template that includes a target object;
• generating a color score map dependent on a distribution of color information in a first portion of the template, a distribution of color information in a second portion of the template distinguished from the first portion, and color information of the search image, where the first portion includes the target object;
• and
• tracking the target object in the search image using a bounding box determined based on the generated feature score map and the generated color score map.

An apparatus, the apparatus comprising:

• one or more processors configured to:
• generate a first feature map of a first search image;
• generate a first feature score map dependent on the first feature map of the first search image and an obtained first feature map for a template that includes a target object;
• generate a first color score map dependent on color information of the first search image, color information in a first portion of the template, and color information in a second portion of the template distinguished from the first portion, where the first portion includes the target object;
• update the template by updating extents of the first portion and the second portion of the template based on a bounding box determined for the target object in the first search image, where the bounding box is determined dependent on the first feature score map and the first color score map;
• and
• track the target object in a second search image, subsequent to the first search image, dependent on the updated template.

An apparatus, the apparatus comprising:

• one or more processors configured to:
• acquire a feature map of a template image, a color histogram of a foreground of the template image, and a color histogram of a background of the template image other than the foreground, where the foreground includes an object included in the template image;
• acquire a feature score map, and a bounding box map corresponding to the feature score map, based on the feature map of the template image and a feature map of a search image of a current frame;
• acquire a color score map based on the color histogram of the foreground, the color histogram of the background, and a color value of the search image of the current frame;
• acquire a final score map, and a bounding box map corresponding to the final score map, based on the feature score map, the color score map, and the bounding box map;
• and
• output a bounding box corresponding to a pixel having a highest value of the final score map from the bounding box map.

A terminal comprising:

• a memory;
• a display;
• and
• one or more processors configured to:
• acquire a feature map of a template image, a color histogram of a foreground of the template image, and a color histogram of a background of the template image other than the foreground, where the foreground includes an object included in the template image;
• acquire a feature score map, and a bounding box map corresponding to the feature score map, based on the feature map of the template image and a feature map of a search image of a current frame;
• acquire a color score map based on the color histogram of the foreground, the color histogram of the background, and a color value of the search image of the current frame;
• acquire a final score map, and a bounding box map corresponding to the final score map, based on the feature score map, the color score map, and the bounding box map;
• and
• output, through the display, a bounding box corresponding to a pixel having a highest value of the final score map from the bounding box map.