TRACKING METHOD AND APPARATUS IN REAL-TIME CAMERA TRACKING SYSTEM USING OF KALMAN FILTER

摘要

A method and a device for estimating motion in a real-time motion estimation system by using a Kalman filter are provided to improve correctness of a camera motion estimation value by updating configuration while increasing a state vector of the Kalman filter according to an extracted feature point. A feature extractor(102) extracts features of each frame from an image sequence of an image captured and received from a camera. A candidate feature selecting and storing unit(104) compares the extracted features with a current state vector. The candidate feature selecting and storing unit selects a candidate feature to be added and stores the candidate feature in a structure body. A state vector updater(106) updates the state vector when a predetermined condition is satisfied. A motion estimator(108) estimates motion of the camera in real-time by applying a Kalman filter to the updated state vector.