| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an obstacle tracking system that detects the accurate position of an obstacle in consideration of the ambiguity of detected obstacle candidate areas. <P>SOLUTION: The obstacle tracking system comprises an image input part 1 mounted on a mobile body to capture time series images of an obstacle, an obstacle detection part 2 for detecting current obstacle candidate areas from the time series images, a hypothesis generation part 3 for holding a state hypothesis group about the obstacle at the preceding time and generating an observational hypothesis group combining observational hypotheses in the positions of the obstacle candidate areas and an observational hypothesis based on no obstacle detection, a likelihood calculation part 5 for calculating likelihoods of combinations from the state hypothesis group and observational hypothesis group, selecting the combinations that have the highest likelihood from the observational hypothesis group and state hypothesis group and updating the selected state hypothesis group as a current state hypothesis group, and a hypothesis selection part 6 for selecting the state hypothesis that has the highest likelihood in the current state hypothesis group as a detected state of the obstacle. <P>COPYRIGHT: (C)2007,JPO&INPIT |
