Online apparatus and method for Multiple Camera Multiple Target Tracking Based on Multiple Hypothesis Tracking

摘要

The present invention is an on-line device and method for multi-camera multi-target tracking based on multiple hypothesis tracking, adopting a multiple hypothesis tracking (MHT) framework based on delay determination, and to reduce the computational load of MHT on multiple cameras A tracklet generating unit for using a tracklet (a partial fragment of an estimated target trajectory) in a 2D (2D) image coordinate system, and converting a detection result detected through a frame into a tracklet for each camera of the multiple cameras; A candidate track generating unit for generating a candidate track that can be a tracing result in three-dimensional space through all possible temporal / spatial combinations with the tracklets transformed in the tracklet generating unit; A candidate track having a high probability of being a trajectory of the target is selected as an optimal track on the basis of the probability of the candidate tracks, A track selection unit for selecting optimum tracks successively while feeding back the different optimum tracks; a track selection unit for selecting the optimum tracks continuously based on the optimum track selected from the candidates generated in the candidate track generation unit and the track selection unit; And a track rejection unit for checking whether the track is tracked by using the approximate global probability (AGTP) or the N scan back method to remove the unchecked track and transmitting the result to the candidate track generating unit.