| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile object tracking apparatus which can track a mobile object with high accuracy without carrying out a complicated process. SOLUTION: The mobile object tracking apparatus is provided with: at least two pieces of photographing means 1a and 1b which are in a known positional relationship; an image storing section 4 with a signal processing unit 3 for fetching a photographed image through a fetching means 2 at constant intervals and where the fetched image is stored; a corresponding point measuring means 5 for obtaining a corresponding point; a corresponding point detection determining means 6 for determining whether or not the corresponding point is correctly obtained; a three-dimensional position measuring means 7 for measuring a three-dimensional position of the mobile object in the image when the corresponding point is detected; a three-dimensional position estimating means 8 for waiting for a next image input when the corresponding point cannot be detected, checking whether the mobile object exists by using the images which are of before and after that time when the corresponding point could not be detected, and then estimating the three-dimensional position from the images before and after the image when existent; and a mobile object tracking means 9 for obtaining a track of the mobile object from the three-dimensional position obtained by the three-dimensional position measuring means or the three-dimensional position estimating means. COPYRIGHT: (C)2010,JPO&INPIT
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