| 摘要 |
PROBLEM TO BE SOLVED: To track a tracking target with high accuracy even when a target to be tracked exists in a far distance.SOLUTION: A tracking apparatus includes: an extraction part for extracting an observation signal possibly indicating a target to be tracked from an image obtained from a sensor at each sampling time; a generation part which, when a plurality of observation signals is extracted, generates a plurality of hypotheses including a hypothesis indicating a branch track that is a track branched by updating an existing track being a track obtained by past tracking processing of the target by using two or more observation signals selected from the plurality of observation signals; an evaluation prat for evaluating likelihood indicating probability of each generated hypothesis on the basis of a predetermined reference; a tracking part for specifying a past track of the target by selecting at least one hypothesis including a hypothesis having the highest likelihood obtained by the evaluation part from the plurality of hypotheses generated at each sampling time; and a setting part for setting a gate region indicating a range of an image, from which an observation signal corresponding to the target is extracted at a succeeding sampling time, on the basis of an existing track of a branch source of the branch track. |
