Method and apparatus with state estimation

A method of estimating a state of a target object represented in an image sequence, the method performed by one or more processors and comprising:

• predicting current state prediction data of the target object by using previous state estimation data of a previous image frame of the image sequence;
• acquiring current target detection data of the target object for a current image frame of the image sequence;
• determining a current prediction noise for an interval of the image sequence based on a matching state between the current state prediction data and the current target detection data;
• and
• determining current state estimation data of the target object of the current image frame by updating the current state prediction data by using the current target detection data and the current prediction noise when the current state prediction data matches the current target detection data.

An electronic device comprising:

• one or more processors;
• and
• a memory storing instructions configured to cause the one or more processors to:
• predict current state prediction data of a target object by using previous state estimation data of a previous image frame of an image sequence,
• acquire current target detection data of the target object of a current image frame of the image sequence,
• determine a current prediction noise for an interval of the image sequence based on a matching state between the current state prediction data and the current target detection data, and
• determine current state estimation data of the target object of the current image frame by updating the current state prediction data by using the detection reliability of the current target detection data, the current prediction noise, and the current target detection data when the current state prediction data matches the current target detection data.