Device and method for tracking an object
AssigneesHyundai Motor Company, Kia Corporation
InventorSe Jeong Lee
Life of this patent
Estimating the term…
Abstract
A device and a method for tracking an object are disclosed. The device includes a camera for acquiring an external environment image of a vehicle and a controller. The controller extracts a detected object from the external environment image, generates an estimated object by predicting a next position of the detected object, assigns an ID to the detected object based on an intersection over union (IOU) between the estimated object and the detected object, assigns a weight based on a detection frequency of each of the IDs, and generates the estimated object based on the weight.
Claims18
A device for tracking an object, the device comprising:
- a camera for acquiring an external environment image of a vehicle;
- and
- a controller configured to:
- extract a detected object from the external environment image,
- generate an estimated object by predicting a next position of the detected object,
- assign an ID to the detected object based on an intersection over union (IOU) between the estimated object and the detected object,
- assign a weight based on a number of times of each of the IDs,
- generate the estimated object based on the weight, and
- increase the weight as the number of times of the IDs increases,
- wherein generating the estimated object further comprises calculating a quality index based on the weight, and
- wherein the controller is further configured to:
- increase the quality index based on that a first weight assigned in a (n−k)-th image frame is greater than a second weight assigned in a n-th image frame, wherein the n is a natural number, k is a natural number less than the n.
A method for tracking an object, the method comprising:
- extracting a detected object from an external environment image;
- generating an estimated object by predicting a next position of the detected object;
- assigning an ID to the detected object based on an intersection over union (IOU) between the estimated object and the detected object;
- assigning a weight based on a number of times of each of the IDs;
- generating the estimated object based on the weight;
- and
- increasing the weight as the number of times of the IDs increases,
- wherein generating the estimated object further comprises calculating a quality index based on the weight, and
- wherein the method further comprises increasing the quality index based on that a first weight assigned in a (n−k)-th image frame is greater than a second weight assigned in a n-th image frame, wherein the n is a natural number, k is a natural number less than the n.
Dependencies are inferred from the claim text.