Object tracking apparatus and object tracking method

Patent metadata

Field	Value
Publication number	US-10497133-B2
Application number	US-201715756084-A
Country	US
Kind code	B2
Filing date	Feb 27, 2017
Priority date	Jul 8, 2016
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

An image processing apparatus tracks a target object included in a plurality of consecutively captured images. The image processing apparatus may include an image acquisition unit, a template acquisition unit, a masking map generation unit, and a tracking unit. The image acquisition unit acquires the image. The template acquisition unit acquires a template corresponding to the target object. The masking map generation unit generates a masking map that indicates a degree of masking of the target object by another object. The tracking unit detects the target object by using the template, and acquires an amount of movement of the target object and a direction of the movement of the target object, based on both of the template and the masking map.

First claim

The invention claimed is:

1. An image processing apparatus for tracking a target object to be tracked included in a plurality of consecutively captured images,
the image processing apparatus comprising:
a processor configured to perform operations comprising operations as:
an image acquisition unit configured to acquire an image;
a template acquisition unit configured to acquire a template corresponding to a target object to be tracked included in the image;
a masking map generation unit configured to generate a masking map serving as a map indicative of a degree of masking the target object to be tracked, which is included in the image, by another object; and
a tracking unit configured to detect the target object to be tracked included in the image by using the template, and acquire over a plurality of images an amount of movement of the target object to be tracked and a direction of the movement of the target object to be tracked, based on both of the template and the masking map, wherein:
the masking map comprises a map in which the template is divided into a plurality of blocks and the degree of masking is associated with each of the blocks; and
the processor is configured to perform operations such that operation as the tracking unit comprises operation as the tracking unit that acquires the amount of the movement of the target object to be tracked and the direction of the movement of the target object to be tracked based on a result of matching performed by using the template on a per block basis and weighting performed by using the degree of masking corresponding to each of the blocks.

2. The image processing apparatus according to claim 1 , wherein
the processor is configured to perform operations such that operation as the masking map generation unit comprises operation as the masking map generation unit that generates the masking map, based on a result of a comparison between a single vector, obtained by tracking the target object to be tracked over the plurality of images, and each of a plurality of vectors obtained by tracking the plurality of blocks over the plurality of images.

3. The image processing apparatus according to claim 2 , wherein
the processor is configured to perform operations such that operation as the masking map generation unit comprises operation as the masking map generation unit that sets the degree of masking a corresponding block to a higher degree of masking as a difference between the single vector and each of the plurality of vectors resulting from the comparison between the single vector and each of the plurality of vectors is larger, and
the processor is configured to perform operations such that operation as the tracking unit comprises operation as the tracking unit that sets, as the degree of masking corresponding to a block is higher, a weight of the block to a smaller weight.

4. The image processing apparatus according to claim 1 , wherein
the processor is configured to perform operations such that operation as the masking map generation unit comprises operation as the masking map generation unit that updates the masking map every time the tracking unit generates a tracking result, and
the processor is configured to perform operations such that operation as the tracking unit comprises operation as the tracking unit that uses the updated masking map in a process of detecting the target object to be tracked in a next frame.

5. The image processing apparatus according to claim 1 , wherein
the degree of masking set in the masking map is lower as an edge perpendicular to the movement direction of the target object to be tracked in a corresponding block is stronger.

6. The image processing apparatus according to claim 1 , wherein
the processor is configured to perform operations such that operation as the template acquisition unit comprises operation as the template acquisition unit that uses an image obtained by clipping the target object to be tracked, which has been detected by the tracking unit, as the template in a next frame.

7. An image processing method performed by an image processing apparatus for tracking a target object to be tracked included in a plurality of consecutively captured images,
the image processing method comprising:
acquiring an image;
acquiring a template corresponding to a target object to be tracked included in the image;
generating a masking map serving as a map indicative of a degree of masking the target object to be tracked, which is included in the image, by another object; and
detecting the target object to be tracked included in the image by using the template and acquiring over a plurality of the images an amount of movement of the target object to be tracked and a direction of the movement of the target object to be tracked, based on both of the template and the masking map, wherein:
the masking map comprises a map in which the template is divided into a plurality of blocks and the degree of masking is associated with each of the blocks; and
the method further comprises acquiring the amount of movement of the target object to be tracked and the direction of the movement of the target object to be tracked based on a result of matching performed by using the template on a per block basis and weighting performed by using the degree of masking corresponding to each of the blocks.

8. A non-transitory computer readable storage medium storing a computer program for causing a computer in an image processing apparatus for tracking a target object to be tracked included in a plurality of consecutively captured images to perform an image processing method comprising:
acquiring an image;
acquiring a template corresponding to a target object to be tracked included in the image;
generating a masking map serving as a map indicative of a degree of masking the target object to be tracked, which is included in the image, by another object; and
detecting the target object to be tracked included in the image by using the template and acquiring over a plurality of the images an amount of movement of the target object to be tracked and a direction of the movement of the target object to be tracked, based on both of the template and the masking map, wherein:
the masking map comprises a map in which the template is divided into a plurality of blocks and the degree of masking is associated with each of the blocks; and
the method further comprises acquiring the amount of movement of the target object to be tracked and the direction of the movement of the target object to be tracked based on a result of matching performed by using the template on a per block basis and weighting performed by using the degree of masking corresponding to each of the blocks.

Assignees

• Omron Tateisi Electronics Co

Inventors

• Aizawa Tomoyoshi

Classifications

• G06T2207/30236

  Traffic on road, railway or crossing · CPC title

• G06T2207/30242

  Counting objects in image · CPC title

• G06T7/20 Primary

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• G06T7/231

  using full search · CPC title

• G08G1/04

  using optical or ultrasonic detectors · CPC title