Target tracking apparatus, storage medium stored a target tracking program, target tracking system, and target tracking method
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01S-013/44
G01S-003/786
G01S-005/04
G01S-005/02
G01S-013/68
G01S-013/72
G01S-013/66
출원번호
US-0613787
(2012-09-13)
등록번호
US-9041593
(2015-05-26)
우선권정보
JP-2012-047194 (2012-03-02)
발명자
/ 주소
Furukawa, Hidetoshi
출원인 / 주소
KABUSHIKI KAISHA TOSHIBA
대리인 / 주소
Oblon, McClelland, Maier & Neustadt, L.L.P.
인용정보
피인용 횟수 :
0인용 특허 :
14
초록▼
According to one embodiment, a target tracking apparatus acquires a first determination result by determining which combination of N-dimensional tracks is for the real target, acquires a second determination result by determining which combination of N-dimensional angular observation values is for t
According to one embodiment, a target tracking apparatus acquires a first determination result by determining which combination of N-dimensional tracks is for the real target, acquires a second determination result by determining which combination of N-dimensional angular observation values is for the real target, selects the first determination result when an observation environment is an environment other than a dense environment, selects the second determination result when the observation environment is a dense environment, and calculates distance information to thereby generate an (N+1)-dimensional track for each target.
대표청구항▼
1. A target tracking apparatus configured to track each target on the basis of an N-dimensional (N is 1 or 2) angular observation value for each target detected by each of n (n is an integer equal to or greater than 2) N-dimensional angular sensors, and an N-dimensional track for each target obtaine
1. A target tracking apparatus configured to track each target on the basis of an N-dimensional (N is 1 or 2) angular observation value for each target detected by each of n (n is an integer equal to or greater than 2) N-dimensional angular sensors, and an N-dimensional track for each target obtained by subjecting each of the N-dimensional angular observation values to angular tracking comprising: a first determination device configured to determine which combination of N-dimensional tracks is for the real target from combinations of N-dimensional tracks for the target;a second determination device configured to determine which combination of N-dimensional angular observation values is for the real target from combinations of N-dimensional angular observation values for the target;a determination selection device configured to analyze an observation environment for the target, select the determination of the first determination device when the observation environment is an environment other than a dense environment, and select the determination of the second determination device when the observation environment is a dense environment; anda track generation device configured to calculate distance information on the basis of a combination of N-dimensional tracks for which it is determined by the first determination device that the tracks are for the real target or on the basis of a combination of N-dimensional angular observation values for which it is determined by the second determination device that the angular observation values are for the real target, and add the calculated distance information to the N-dimensional track or the N-dimensional angular observation value for each target to thereby generate an (N+1)-dimensional track for each target. 2. The target tracking apparatus of claim 1, further comprising a maintenance device configured to determine whether or not there is data association between the N-dimensional angular observation value detected by each of the n N-dimensional angular sensors, and the (N+1)-dimensional track generated by the (N+1)-dimensional track generation device, and update the (N+1)-dimensional track with the associated N-dimensional angular observation value for maintaining the (N+1)-dimensional track. 3. The target tracking apparatus of claim 2, further comprising a processing selection device configured to determine whether or not there is data association between the N-dimensional angular observation value detected by the N-dimensional angular sensor, and the (N+1)-dimensional track from the maintenance device, output, when it is determined that there is data association between the angular observation value, and the track, the N-dimensional angular observation value to the maintenance device, and output, when it is determined that there is no data association between the angular observation value and the track, the N-dimensional track corresponding to the N-dimensional angular observation value to the first determination device, and the N-dimensional angular observation value to the second determination device, and the determination selection device. 4. The target tracking apparatus of claim 1, wherein the first determination device determines, when three vectors including one reference vector calculated based on positions of two N-dimensional angular sensors of the n angular sensors, and two target direction vectors calculated based on an N-dimensional track obtained by carrying out angular tracking for each of the N-dimensional angular sensors exist in the common plane within a predetermined error range, that they are the real target. 5. The target tracking apparatus of claim 1, wherein the first determination device determines, when three vectors including one reference vector calculated based on positions of two N-dimensional angular sensors of the n angular sensors, and two target direction vectors calculated based on an N-dimensional track obtained by carrying out angular tracking for each of the N-dimensional angular sensors exist in the common plane within a predetermined error range, and velocity vectors in the (N+1)-dimensional space calculated on the basis of angular velocities included in the N-dimensional track become identical to each other within a predetermined error range, that the determination is the real target. 6. The target tracking apparatus of claim 1, wherein the first determination device determines, when three vectors including one reference vector calculated based on positions of the two selected N-dimensional angular sensors of the n angular sensors, and two target direction vectors calculated based on an N-dimensional track obtained by carrying out angular tracking for each of the two selected N-dimensional angular sensors exist in the common plane within a predetermined error range, that they are candidates for the real target, and determines, when the number of combinations of N-dimensional angular sensors for which it is determined that they are candidates for the real target exceeds a predetermined value, that they are the real target. 7. The target tracking apparatus of claim 1, wherein the second determination device determines, when three vectors including one reference vector calculated based on positions of two N-dimensional angular sensors of the n angular sensors, and two target direction vectors calculated based on an N-dimensional angular observation value detected by each of the N-dimensional angular sensors exist in the common plane within a predetermined error range, that they are the real target. 8. The target tracking apparatus of claim 1, wherein the second determination device determines, when three vectors including one reference vector calculated based on positions of the two selected N-dimensional angular sensors of the n angular sensors, and two target direction vectors calculated based on an N-dimensional angular observation value detected by each of the two selected N-dimensional angular sensors exist in the common plane within a predetermined error range, that they are candidates for the real target, and determines, when the number of combinations of N-dimensional angular sensors for which it is determined that they are candidates for the real target exceeds a predetermined value, that they are the real target. 9. The target tracking apparatus of claim 1, wherein the second determination device uses positions of at least three N-dimensional angular sensors of the n angular sensors, and target direction vectors calculated from N-dimensional angular observation values detected by the at least three N-dimensional angular sensors to solve a multidimensional assignment problem, thereby carrying out determination of the real target. 10. A target tracking system comprising: n (n is an integer equal to or greater than 2) N-dimensional (N is 1 or 2) angular sensors each of which is configured to observe a target, and obtain an N-dimensional angular observation value;n angular tracking devices provided in one-to-one correspondence with the n N-dimensional angular sensors, and each configured to calculate an N-dimensional track for each target by carrying out angular tracking on the basis of the N-dimensional angular observation value for each target, the angular observation value being detected by the sensor; anda target tracking apparatus configured to generate an (N+1)-dimensional track of a target on the basis of the N-dimensional angular observation value for each target, the angular observation value being detected by each of the n N-dimensional angular sensors, and the N-dimensional track for each target, the track being obtained from the angular tracking device, whereinthe target tracking apparatus comprises:a first determination device configured to determine which combination of N-dimensional tracks is for the real target from combinations of N-dimensional tracks for the target;a second determination device configured to determine which combination of N-dimensional angular observation values is for the real target from combinations of N-dimensional angular observation values for the target;a determination selection device configured to analyze an observation environment for the target, select the first determination device when the observation environment is an environment other than a dense environment, and select the second determination device when the observation environment is a dense environment; anda track generation device configured to calculate distance information on the basis of a combination of N-dimensional tracks for which it is determined by the first determination device that the tracks are for the real target or on the basis of a combination of N-dimensional angular observation values for which it is determined by the second determination device that the angular observation values are for the real target, and add the calculated distance information to the N-dimensional track or the N-dimensional angular observation value for each target to thereby generate an (N+1)-dimensional track for each target. 11. The target tracking system of claim 10, wherein the target tracking apparatus further comprises a maintenance device configured to determine whether or not there is data association between the N-dimensional angular observation value detected by each of the n N-dimensional angular sensors, and the (N+1)-dimensional track generated by the track generation device, and update the (N+1)-dimensional track with the associated N-dimensional angular observation value for maintaining the (N+1)-dimensional track. 12. The target tracking system of claim 11, wherein the target tracking apparatus further comprises a processing selection device configured to determine whether or not there is data association between the N-dimensional angular observation value detected by the N-dimensional angular sensor, and the (N+1)-dimensional track from the maintenance device, output, when it is determined that there is data association between the angular observation value, and the track, the N-dimensional angular observation value to the maintenance device, and output, when it is determined that there is no data association between the angular observation value, and the track, the N-dimensional track corresponding to the N-dimensional angular observation value to the first determination device, and the N-dimensional angular observation value to the second determination device, and the determination selection device. 13. The target tracking system of claim 10, wherein the target tracking apparatus further comprises a pairing device configured to calculate an N-dimensional track from a two-dimensional angular observation value detected by the N-dimensional angular sensor, and pair the N-dimensional angular observation value and the N-dimensional track with each other to output the pair as angular tracking information.
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이 특허에 인용된 특허 (14)
Roecker James A. (Boulder CO), Evaluating target tracking when using multiple sensors.
Paradie, Michael John; Hunt, Andrew Evan; Forde, John James, Method and apparatus for determining location of objects based on range readings from multiple sensors.
Woo Steven C. (Monterey Park CA), Method and parallel processor computing apparatus for determining the three-dimensional coordinates of objects using dat.
Owen, IV, Archibald Alexander; Goldsmith, Michael Bruce; Krumhansl, Peter Allen; Dorfman, Yevgeniy Yakovlevich, Tracking multiple targets in dense sensor fields.
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