According to one embodiment, a target tracking apparatus calculates N-dimensional predicted values from a respective stored (N+1)-dimensional tracks for each of the targets, determines whether or not the N-dimensional predicted value for each of the targets is correlated with the received N-dimensio
According to one embodiment, a target tracking apparatus calculates N-dimensional predicted values from a respective stored (N+1)-dimensional tracks for each of the targets, determines whether or not the N-dimensional predicted value for each of the targets is correlated with the received N-dimensional angle observed value for the target, if the N-dimensional predicted value is not correlated, generates a new (N+1)-dimensional track for the target based on the N-dimensional track corresponding to the N-dimensional angle observed value and if the N-dimensional predicted value is correlated, updates and stores the (N+1)-dimensional track using the N-dimensional angle observed value.
대표청구항▼
1. A target tracking system, comprising: a plurality of N-dimensional angle sensors configured to observe targets and to obtain N-dimensional angle observed values;angle tracking apparatuses provided in association with the plurality of N-dimensional angle sensors and configured to calculate N-dimen
1. A target tracking system, comprising: a plurality of N-dimensional angle sensors configured to observe targets and to obtain N-dimensional angle observed values;angle tracking apparatuses provided in association with the plurality of N-dimensional angle sensors and configured to calculate N-dimensional tracks for the respective targets by angle tracking using the N-dimensional angle observed values for the respective targets obtained by the corresponding sensors;(N+1)-dimensional track processing means for receiving, as input information, N-dimensional angle observed values for the respective targets observed by the corresponding plurality of N-dimensional angle sensors and N-dimensional tracks for the respective targets calculated from the corresponding N-dimensional angle observed values for the corresponding targets to calculate distance information from the input information, adding the distance information to the input information, and generating and maintaining (N+1)-dimensional tracks for the respective targets;predicted value calculation means for calculating N-dimensional predicted values from the respective maintained (N+1)-dimensional tracks for the corresponding targets; andcorrelation determination means for determining whether or not the N-dimensional predicted value for each of the targets obtained by the predicted value calculation means is correlated with the N-dimensional angle observed value for the target, wherein if the correlation determination means determines that the N-dimensional predicted value is not correlated with the N-dimensional angle observed value, the (N+1)-dimensional track processing means generates a new (N+1)-dimensional track for the target based on the N-dimensional track corresponding to the N-dimensional angle observed value determined not to correlate with the N-dimensional predicted value,wherein if the correlation determination means determines that the N-dimensional predicted value is correlated with the N-dimensional angle observed value, the (N+1)-dimensional track processing means updates and maintains the (N+1)-dimensional track maintained in association with the N-dimensional predicted value using the N-dimensional angle observed value determined to correlate with the N-dimensional predicted value, andwherein N is an integer equal to 1 or 2. 2. The target tracking system according to claim 1, further comprising: at least one angle tracking apparatus, comprising: a calculation device configured to receive the N-dimensional angle observed value for each of the targets from the corresponding N-dimensional angle sensor to calculate an N-dimensional track from the N-dimensional angle observed value by angle tracking; anda pairing device configured to pair the received N-dimensional angle observed value for the target with the N-dimensional track calculated from the observed value and to output the paired N-dimensional angle observed value and N-dimensional track. 3. A non-transitory computer readable storage medium encoded with a target tracking program, which when executed, causes a computer to carry out a target tracking process, comprising: performing (N+1)-dimensional track processing of receiving N-dimensional angle observed values for respective targets observed by a corresponding plurality of N-dimensional angle sensors;calculating N-dimensional tracks for the respective targets by angle tracking using the N-dimensional angle observed values for the respective targets obtained by the corresponding sensors;calculating distance information based on the N-dimensional angle observed values for the respective targets obtained by the corresponding sensors;adding the calculated distance information to the N-dimensional angle observed values and the N-dimensional tracks to generate and maintain (N+1)-dimensional tracks for the respective targets;performing predicted value calculation processing of calculating N-dimensional predicted values from the respective maintained (N+1)-dimensional tracks for the respective targets; andperforming correlation determination processing of determining whether or not the N-dimensional predicted value for each of the respective targets obtained by the predicted value calculation process is correlated with the received N-dimensional angle observed value for each of the respective targets,wherein the (N+1)-dimensional track processing comprises: generation processing in which if the correlation determination processing determines that the N-dimensional predicted value is not correlated with the N-dimensional angle observed value, a new (N+1)-dimensional track for the target is generated based on the N-dimensional track corresponding to the N-dimensional angle observed value determined not to correlate with the N-dimensional predicted value; andupdate processing in which if the correlation determination processing determines that the N-dimensional predicted value is correlated with the N-dimensional angle observed value, the (N+1)-dimensional track maintained in association with the N-dimensional predicted value is updated and maintained using the N-dimensional angle observed value determined to correlate with the N-dimensional predicted value,wherein N is an integer equal to 1 or 2. 4. The non-transitory computer readable storage medium of claim 3, wherein an angle tracking processing comprises: calculation processing of receiving the N-dimensional angle observed value for each of the respective targets from the corresponding N-dimensional angle sensor to calculate an N-dimensional track from the N-dimensional angle observed value by angle tracking; andpairing processing of pairing the received N-dimensional angle observed value for the target with the N-dimensional track calculated from the observed value and outputting the paired N-dimensional angle observed value and N-dimensional track. 5. A target tracking method, comprising: receiving N-dimensional angle observed values for respective targets observed and obtained by a corresponding plurality of N-dimensional angle sensors;calculating N-dimensional tracks for the respective targets by angle tracking using the N-dimensional angle observed values for the respective targets obtained by the corresponding sensors;calculating distance information based on the N-dimensional angle observed values for the respective targets obtained by the corresponding sensors;adding the calculated distance information to the N-dimensional angle observed values and the N-dimensional tracks to generate and maintain (N+1)-dimensional tracks for the respective targets;calculating N-dimensional predicted values from the respective maintained (N+1)-dimensional tracks for the respective targets;determining whether or not the N-dimensional predicted value for each of the respective targets is correlated with the received N-dimensional angle observed value for each of the respective targets, wherein if the correlation determination determines that the N-dimensional predicted value is not correlated with the N-dimensional angle observed value, generating a new (N+1)-dimensional track for the target based on the N-dimensional track corresponding to the N-dimensional angle observed value determined not to correlate with the N-dimensional predicted value,wherein if the correlation determination determines that the N-dimensional predicted value is correlated with the N-dimensional angle observed value, updating and maintaining the (N+1)-dimensional track maintained in association with the N-dimensional predicted value using the N-dimensional angle observed value determined to correlate with the N-dimensional predicted value, andwherein N is an integer equal to 1 or 2. 6. The target tracking method according to claim 5, further comprising: receiving the N-dimensional angle observed value for each of the targets from the corresponding N-dimensional angle sensor to calculate an N-dimensional track from the N-dimensional angle observed value by angle tracking; andpairing the received N-dimensional angle observed value for the target with the N-dimensional track calculated from the observed value and outputting the paired N-dimensional angle observed value and N-dimensional track. 7. A target tracking apparatus comprising: an (N+1)-dimensional track processing device configured to: receive N-dimensional angle observed values for respective targets observed by a corresponding plurality of N-dimensional angle sensors and N-dimensional tracks for the respective targets calculated from the N-dimensional angle observed values for the respective targets,calculate and add distance information to the N-dimensional angle observed values and the N-dimensional tracks to generate and maintain (N+1)-dimensional tracks for the respective targets;a predicted value calculation device configured to calculate N-dimensional predicted values from the respective maintained (N+1)-dimensional tracks for the respective targets; anda correlation determination device configured to determine whether or not the N-dimensional predicted value for each of the respective targets obtained by the predicted value calculation device is correlated with the N-dimensional angle observed value for each of the respective targets, wherein if the correlation determination device determines that the N-dimensional predicted value is not correlated with the N-dimensional angle observed value, the (N+1)-dimensional track processing device generates a new (N+1)-dimensional track for the target based on the N-dimensional track corresponding to the N-dimensional angle observed value determined not to correlate with the N-dimensional predicted value,wherein if the correlation determination device determines that the N-dimensional predicted value is correlated with the N-dimensional angle observed value, the (N+1)-dimensional track processing device updates and maintains the (N+1)-dimensional track maintained in association with the N-dimensional predicted value using the N-dimensional angle observed value determined to correlate with the N-dimensional predicted value, andwherein N is an integer equal to 1 or 2. 8. A non-transitory computer readable storage medium encoded with a target tracking program, which when executed, causes a computer to carry out a target tracking process, comprising: performing (N+1)-dimensional track processing of receiving N-dimensional angle observed values for respective targets observed by a corresponding plurality of N-dimensional angle sensors and N-dimensional tracks for the respective targets calculated from the N-dimensional angle observed values for the respective targets;calculating and adding distance information to the N-dimensional angle observed values and the N-dimensional tracks to generate and maintain (N+1)-dimensional tracks for the respective targets;performing predicted value calculation processing of calculating N-dimensional predicted values from the respective maintained (N+1)-dimensional tracks for the respective targets; andperforming correlation determination processing of determining whether or not the N-dimensional predicted value for each of the respective targets obtained by the predicted value calculation process is correlated with the received N-dimensional angle observed value for the target,wherein the (N+1)-dimensional track processing comprises: generation processing in which if the correlation determination processing determines that the N-dimensional predicted value is not correlated with the N-dimensional angle observed value, a new (N+1)-dimensional track for the target is generated based on the N-dimensional track corresponding to the N-dimensional angle observed value determined not to correlate with the N-dimensional predicted value; andupdate processing in which if the correlation determination processing determines that the N-dimensional predicted value is correlated with the N-dimensional angle observed value, the (N+1)-dimensional track maintained in association with the N-dimensional predicted value is updated and maintained using the N-dimensional angle observed value determined to correlate with the N-dimensional predicted value,wherein N is an integer equal to 1 or 2. 9. A target tracking method, comprising: receiving N-dimensional angle observed values for respective targets observed and obtained by a corresponding plurality of N-dimensional angle sensors and N-dimensional tracks for the respective targets calculated from the N-dimensional angle observed values for the respective targets;calculating and adding distance information to the N-dimensional angle observed values and the N-dimensional tracks to generate and maintain (N+1)-dimensional tracks for the respective targets;calculating N-dimensional predicted values from the respective maintained (N+1)-dimensional tracks for the respective targets;determining whether or not the N-dimensional predicted value for each of the respective targets is correlated with the received N-dimensional angle observed value for each of the respective targets, wherein if the correlation determination determines that the N-dimensional predicted value is not correlated with the N-dimensional angle observed value, generating a new (N+1)-dimensional track for the target based on the N-dimensional track corresponding to the N-dimensional angle observed value determined not to correlate with the N-dimensional predicted value,wherein if the correlation determination determines that the N-dimensional predicted value is correlated with the N-dimensional angle observed value, updating and maintaining the (N+1)-dimensional track maintained in association with the N-dimensional predicted value using the N-dimensional angle observed value determined to correlate with the N-dimensional predicted value, andwherein N is an integer equal to 1 or 2.
Hammack Calvin Miles (P.O. Box 304 Saratoga CA 95070), Method and apparatus for automatically detecting and tracking moving objects and similar applications.
Broniwitz Laurence E. (Los Angeles CA) Pearson ; III John B. (Santa Monica CA) Landau Mark I. (Los Angeles CA), Tracking system utilizing Kalman filter concepts.
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