APPARATUS AND METHOD FOR DETECTING AND TRACKING MULTIPLE OBJECTS BY USING DUAL-LAYER PARTICLE FILTER

摘要

Disclosed are an apparatus and a method for detecting and tracking multiple objects by using a dual-layer particle filter. A processor detects an object by performing first particle filtering for a parent particle generated through sampling based on a motion distribution estimated by continuously input images at a first layer. The processor executes instructions to perform double-layer particle filtering to track the object detected by performing second filtering with respect to children particles generated by sampling first parent particles having detected objects based on the motion distribution estimated from the detected objects at a second layer. A memory stores a program including an instruction or instructions executed by the processor. According to the present invention, initial positions of multiple objects can be automatically detected and a computation amount can be significantly reduced, so that tracking can be performed.