Method and apparatus for tracking object, and method and apparatus for calculating object pose information

摘要

A method and apparatus for tracking an object, and a method and apparatus for calculating object pose information are provided. The method of tracking the object obtains object feature point candidates by using a difference between pixel values of neighboring frames. A template matching process is performed in a predetermined region having the object feature point candidates as the center. Accordingly, it is possible to reduce a processing time needed for the template matching process. The method of tracking the object is robust in terms of sudden changes in lighting and partial occlusion. In addition, it is possible to track the object in real time. In addition, since the pose of the object, the pattern of the object, and the occlusion of the object are determined, detailed information on action patterns of the object can be obtained in real time.

主权项

1. A method of tracking an object comprising:
detecting predetermined object feature points in a previous frame; estimating object feature point candidates of an N-th (N is a positive integer greater than (frame by using a difference between a pixel value of the previous frame and a pixel value of the N-th frame; searching for a template similar to a predetermined template including the detected object feature points of the previous frame in a search area surrounding the estimated object feature point candidates of the N-th frame; estimating object feature points of the N-th frame based on the searched template of the N-th frame; estimating whether the estimated object feature points of the N-th frame are occluded on the basis of a similarity between the estimated object feature points of the N-th frame and the detected object feature points of the previous frame; and tracking the object based on occlusion information of the detected object feature points of the N-th frame, wherein the tracking is performed based on the detected object feature points of the previous frame corresponding to the occluded object feature points of the N-th frame when the estimated object feature points of the N-th frame are occluded.