| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that the conventional multiple target tracking device obtains only low correlation solution without obtaining semi-optimum solution satisfying a threshold condition even when repeating solution derivation in an allowable time by allowing calculation load for finding N-dimensional correlation at each sampling to be large. SOLUTION: A multiple target tracking device comprises: determining whether the number of times of observation of a sensor is integer times of a set value; generating/outputting a new track by taking correlation of an observed value and an existing tracking track with a two-dimensional correlation calculation part when being other than the integer times; calculating while updating a cost matrix from the observed value with a cost matrix updating part at each one sampling when being the integer times; calculating the correlation solution under a restricted condition relieved with a Lagrange relieving calculation part by a Lagrange multiplier found by a Lagrange relieving method on the basis of the cost matrix with a Lagrange multiplier setting part; and generating/outputting the new track by correcting the relieved solution with a realizable solution calculation part and finding solution satisfying all restricted conditions. COPYRIGHT: (C)2007,JPO&INPIT
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