Unified matching method and unified matching system for multi-pedestrian tracking

A unified matching system for multi-pedestrian tracking, comprising:

• a controller comprising at least one processor configured to control a vehicle based on information on road environment images of a road on which the vehicle travels,
• wherein the controller is configured to:
• divide the road environment images into frames;
• detect an object in an N-th frame;
• calculate a matching cost matrix between the detected object and tracked objects detected in a previous frame of the road environment images;
• match the detected object with one of the tracked objects by using the matching cost matrix;
• generate a matching threshold value based on a confidence score of the detected object;
• update the matched tracked object using the detected object when a matching cost between the matched tracked object and the detected object is smaller than the matching threshold value;
• and control the vehicle based on the updated tracked object.

A non-transitory computer-readable recording medium that records a program for executing a unified matching method for multi-pedestrian tracking on a computer, the method comprising:

• dividing road environment images collected from at least one sensor into frames and detecting an object in an N-th frame;
• calculating a matching cost matrix between the detected object and tracked objects detected in a previous frame of the road environment images;
• matching the detected object with one of the tracked objects using the matching cost matrix;
• generating a matching threshold value based on a confidence score of the detected object;
• updating the matched tracked object using the detected object when a matching cost between the matched tracked object and the detected object is smaller than the matching threshold value;
• and
• controlling a vehicle based on the updated tracked object.