METHOD AND APPARATUS FOR OBJECT TRACKING USING STEREO FEATURE MATCHING

摘要

An object tracking method which uses a matching of space time feature points and an apparatus thereof are disclosed. The object tracking apparatus using the matching of the time space feature points according to an embodiment of the present invention includes: a candidate area setting unit which sets an area (a first searching area) which detects an object which is a tracking object in any one image (a first image) between a left image and a right image which are inputted by a stereo camera; a time image feature point extracting unit which extracts feature points within a region-of-interest (POI) of a previous frame and the first searching area; an ROI estimating unit which estimates an ROI in the first image through a matching of the feature points between time images; a space image feature point extracting unit which sets a second searching area in the other image (a second image) between the left and right images based on the ROI of the first image and extracts feature points in the second searching area; and a space image feature point matching unit which extracts a feature point which is matched with the feature points which are extracted from the second searching area among the feature points extracted in the ROI of the first image through a feature point matching between space images. [Reference numerals] (10) Preprocessing unit; (20) Candidate area setting unit; (30, 50) Time image feature point extracting unit; (40) ROI estimating unit; (60) Space image feature point matching unit; (70) Distance estimating unit; (AA) Left and right images