Tracking closely spaced objects in images

摘要

A method and apparatus for tracking a cluster of objects. A path for a center of mass for the cluster of objects is identified using a sequence of frames of sensor data generated by a sensor system. The path is identified with respect to a coordinate system for the sensor data. A relative path for each object in the cluster of objects is identified with respect to the coordinate system for the sensor data. The relative path is relative to the path for the center of mass for the cluster of objects. A final path for each object in the cluster of objects is identified with respect to the coordinate system for the sensor data using the path for the center of mass for the cluster of objects and the relative path for each object in the cluster of objects.