METHOD FOR TRACKING KLT FEATURE BASE ON MULTI-CORE MULTI-THREAD AND ITS APPARATUS

摘要

PURPOSE: A multi-core multi-thread based KLT(Kanade Lucas Tomasi) feature point tracking method and apparatus are provided to obtain input data of a system needing data on two-dimensional feature points by extracting parallel real-time KLT feature points according to region and tracking the extracted feature points. CONSTITUTION: A division and allocation unit performs multiple image division and core allocation according to region(S401). An intrinsic value calculator calculates intrinsic values(S415). A feature point extractor extracts a proper number of final feature points through the arrangement of the intrinsic values(S419). A moment value calculating unit calculates moment values through the feature points and gradient value(S423). A displacement estimating unit computes estimated displacement through the moment values(S427). The displacement estimating unit presumes the final displacement(S429).