METHOD AND APPARATUS OF TRACKING A SPHERICAL OBJECT WITH A MULTI-EXPOSURE CAMERA

摘要

PURPOSE: A method for estimating a spherical object based on multiple exposure cameras and a device thereof are provided to generate division images and select a spherical reference object by using similarity with a spherical object shape model among spherical object candidates, thereby estimating and arranging an additional spherical object on a prediction path. CONSTITUTION: A spherical object estimation device detects a plurality of spherical object candidates through spherical Hough transformation based on multi-resolution from a division image(S215). The spherical object estimation device selects first and second spherical reference objects of a single diameter by using similarity with a shape model of a spherical object from a binary image of original resolution(S217). The spherical object estimation device traces and arranges a radial additional spherical object which is the same as the spherical reference objects on a prediction path(S219,S223). [Reference numerals] (AA) Start; (BB) End; (S201) Multi-concentration image I^(0); (S203) Generate a reduced image I^(0) (original resolution → reduced resolution); (S205) Generate a background image B^(1); (S207) Calculate a differential image D^(1); (S209) Generate a binary image G^(1); (S211) Generate a division image S^(1); (S213) High speed circular Hough transformation(reduced resolution → original resolution); (S215) Detect a spherical object candidate C^(0)_1,...,C^(0)_M; (S217) Select a reference spherical object O^(0)_1,...,C^(0)_2; (S219) Trace an additional spherical object O^(0)_n; (S223) Output a tracking result