MOBILE BODY TRACKING DEVICE, MOBILE BODY TRACKING METHOD, AND STORAGE MEDIUM STORING PROGRAM DESCRIBING THE METHOD

摘要

PROBLEM TO BE SOLVED: To stably track the motion of each mobile body by integrating images transmitted from a plurality of imaging devices for imaging a plurality of mobile bodies.

SOLUTION: A mobile body is tracked by use of a means 11 for predicting, based on a plurality of image data for the mobile body taken by use of one or more imaging devices, a plurality of object states of the mobile body at each time; a means 12 for acquiring the image data; a means 13 for forming a silhouette image by extracting an area projecting the mobile body; a means 14 for estimating an object state distribution by use of the silhouette image, a three-dimensional structure of the real world, and an internal parameter and an external parameter of the imaging device; a means 15 for calculating a change vector based on an object state where the probability is maximized at a current time and an object state where the probability is maximized at a previous time; a means for storing the three-dimensional structure of the real world, the internal parameter and the external parameter; a means 22 for storing a stochastic distribution of object state; and a means 23 for storing the change vector.

COPYRIGHT: (C)2008,JPO&INPIT