Object Tracking Apparatus and Method
AssigneesHyundai Motor Company, Kia Corporation
InventorYoung Chul Yoon
Life of this patent
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Abstract
An embodiment object tracking method includes receiving a first image at time t from a camera, deriving a homography matrix based on the first image and a second image at time t−1, correcting a position of a first object detected from the second image using the homography matrix, detecting a second object matched with the first object from the first image, and tracking a change in position of the second object based on the corrected position of the first object.
Claims20
An object tracking method comprising:
- receiving a first image at time t from a camera;
- deriving a homography matrix based on the first image and a second image from time t−1;
- correcting a position of a first object detected from the second image using the homography matrix;
- detecting a second object matched with the first object from the first image;
- and
- tracking a change in position of the second object based on the corrected position of the first object.
An object tracking apparatus comprising:
- a camera;
- and
- a processor connected with the camera, wherein the processor is configured to:
- receive a first image at time t from the camera;
- derives a homography matrix based on the first image and a second image from time t−1;
- correct a position of a first object detected from the second image using the homography matrix;
- detect a second object matched with the first object from the first image;
- and
- track a change in position of the second object based on the corrected position of the first object.
The object tracking apparatus of claim ii, wherein the processor is configured to derive the homography matrix using a first homography derivation scheme or a second homography derivation scheme.
The object tracking apparatus of claim ii, wherein the processor is configured to:
- derive a first homography matrix and a second homography matrix using a first homography derivation scheme and a second homography derivation scheme;
- and
- select the homography matrix with a higher target detection matching rate from among the first homography matrix and the second homography matrix.
Dependencies are inferred from the claim text.