Apparatus and method for the 3D object tracking using multi-view and depth cameras

摘要

1. Technical Field of the invention defined in the claims; The present invention will on a three-dimensional object tracking device and a method using the multi-view images and depth information.; 2. The invention attempts to solve the technical challenges; The present invention using the depth information and the multi-view images again using the Depth camera to save the amount of calculation and time required for the variation extracted from the can effectively track the object, and the stereo image, even if the shielded area of ​​the objects in the scene generated to keep track of the three-dimensional movement of the object within the object detection and video intended to provide a three-dimensional object tracking device and method.; 3. Resolution of the subject matter of the invention,; The present invention, in the three-dimensional object tracking apparatus, comprising: at least two video cameras (multiview camera) stores frame data of the same image capturing time and the multi-view video from the store in means; The at least two video cameras of a depth (depth) stores the at least one depth maps (depth map) data obtained at the same time from the camera and the depth maps in the storage means; Camera information including a camera focal distance for each point, the camera calibration unit for obtaining a base matrix for the cross point position and orientation; The camera information and the base matrix, a previous frame and using the multi-view image and the depth map data of the current frame, the image within the background object region to extract a moving object region from the extracting means; Detecting a moving object in the extracted object area, object motion estimation means for obtaining three-dimensional motion vector of the object; And by detecting the shielding area in the object area, including a shielded area processing means for estimating the location of a hidden due to the shield via a reverse motion-estimation in the previous frame and the current frame object.; 4. An important use of the invention,; The invention yiyongdoem like video object detection and motion estimation techniques.