Observing from multiple points of view body trace manner, the body tracking device, in the record media null each time which records

摘要

PPROBLEM TO BE SOLVED: To robustly track a plurality of objects even in the case of the occurrence of occlusion where a plurality of object pictures are overlapped. PSOLUTION: An object is observed by a plurality of sensors (S1), and a visual angle in each time is extracted (S2), and the visual angle at the current time is made to correspond to the visual angle at the previous time (S4). The combination of the side of the visual angle at the current time with the object brought into contact with the side is calculated on the basis of the visual angle at the current time, the predicted distribution of the object state, and the combination of the side of the visual angle succeeded from the previous time and the object brought into contact with the side (S5). The state distribution of the object is estimated on the basis of the hypothesis of the individual corresponding relation (S6). The probability distribution of the state of the object when the side of the visual angle brought into contact with each object is considered as the tangent of the object is calculated. The representative value is calculated from the distribution, so that the estimated value of the position or attitude of the individual object in each time can be outputted (S7), and that the predicted distribution of the object status can be calculated (S8). The processing is repeatedly performed every hour. PCOPYRIGHT: (C)2004,JPO&NCIPI