| 摘要 |
PROBLEM TO BE SOLVED: To predict a moving prediction of a person in an actual environment, to restrain a repetition processing frequency required until a prediction result gets stable, and to make compatible high tracking precision and low computational cost. SOLUTION: This moving object tracking device or the like stores three-dimensional structure of an actual world predicted preliminarily, an internal/external parameter of an image sensor such as a camera arranged in the actual world, and an action history of the person, into a three-dimensional environmental information database 21, and stores a probability distribution of a tracking object state estimated at each time, and the tracking object state having the maximum probability, into an object state distribution storage means 22. The moving object tracking device or the like introduces an action history distribution to expresses probably the sequential moving of the person at the next time from an optional position in the environment, using the action history of the person obtained by the tracking. A moving route according to an environmental factor is predicted therein by processing statistically the action histories, and the prediction precision is enhanced of course and is updated sequentially without requiring the presetting of the environmental factor. COPYRIGHT: (C)2009,JPO&INPIT
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