APPARATUS AND METHOD FOR TRACKING MOVING OBJECTS BY USING KAMAN FILTER

摘要

An apparatus and a method for tracking an object using a Kalman filter are disclosed. An object detecting unit detects an object from a first image frame and a second image frame which continue on a first cycle. An object tracking unit tracks an object which is detected from the first image frame about image frames which continue in the first image frame on a second cycle which is set to be shorter than the first cycle. An error estimating unit estimates an error which is generated when tracking the object by the object tracking unit by using the Kalman filter based on the error between the object tracking result about the detected object about the first image frame and the object detected from the second image frame. The object tracking unit tracks the object about the second image frame by adding up the tracking result of the object detected from the second image frame about image frames continuing in the second image frame on a cycle and the estimated error which is estimated by the error estimating unit. According to the present invention, an object can be tracked rapidly and accurately about the object which moves at high speed. [Reference numerals] (310) Object detecting unit; (320) Object tracking unit; (330) Error estimating unit; (AA) Position and speed