System for tracking a moving object, and a method and a non-transitory computer readable medium thereof
View Patent ↗According to one embodiment, a plurality of moving objects is detected from a plurality of frames acquired in time series. Each of the moving objects is corresponded among the frames. A tracklet of each moving object corresponded is extracted and stored. A frame to calculate a position of a moving object is set to a notice frame. The frames are grouped into a first block including at least the notice frame, a second block positioned before the first block in time series, and a third block positioned after the first block in time series. A secondary tracklet included in the second block is acquired from the stored tracklets. The secondary tracklet is corresponded with tracklets included in the first block and the third block, based on a similarity between the secondary tracklet and each of the tracklets. The secondary tracklet is associated with the corresponded tracklets, as a tertiary tracklet.
1. A system for tracking a moving object, the system comprising processing circuitry configured to at least:
acquire a plurality of frames in time series;
detect a plurality of moving objects from the frames;
correspond each of the moving objects among the frames, and extract a tracklet of each moving object corresponded;
store the tracklet of each moving object corresponded;
set a frame to calculate a position of a moving object to a notice frame;
group the frames into a first block including at least the notice frame, a second block positioned before the first block in time series, and a third block positioned after the first block in time series;
acquire a secondary tracklet included in the second block, and correspond the secondary tracklet with tracklets included in the first block and the third block, based on a similarity between the secondary tracklet and each of the tracklets; and
associate the secondary tracklet with the corresponded tracklets, as a tertiary tracklet.
2. The system according to claim 1 , wherein
the processing circuitry is configured to correspond the secondary tracklet of which a length is smaller than or equal to a predetermined threshold.
3. The system according to claim 1 , wherein the processing circuitry is further configured to:
interpolate position information of the moving object included in the first block, based on the tertiary tracklet.
4. The system according to claim 1 , wherein
the processing circuitry is configured to decide whether the moving object is a person or a vehicle, and
if the moving object is the person or the vehicle,
the processing circuitry is configured to set a length of the first block, based on a previously trained time while the moving object is overlapped with another moving object.
5. The system according to claim 1 , wherein the processing circuitry is further configured to:
acquire surrounding information of the moving object;
wherein a length of the first block is set, based on a time while the moving object is occluded, and
the time is previously trained from the surrounding information.
6. The system according to claim 1 , wherein
the processing circuitry is configured to calculate the similarity as a product of a similarity of an appearance of the moving object in the tracklet, and a similarity of a motion of the tracklet.
7. The system according to claim 1 , wherein the processing circuitry is further configured to:
detect a position of the moving object included in a frame and a frame number of the frame for each moving object, and
store the tracklet having the position and the frame number of each moving object corresponded.
8. The system according to claim 7 , wherein the processing circuitry is further configured to:
set a point to calculate the position of the moving object onto the notice frame, and
group tracklets into the first block, the second block and the third block.
9. A method for tracking a moving object, comprising:
acquiring a plurality of frames in time series;
detecting a plurality of moving objects from the frames;
corresponding each of the moving objects among the frames;
extracting a tracklet of each moving object corresponded;
storing the tracklet of each moving object corresponded;
setting a frame to calculate a position of a moving object to a notice frame;
grouping the frames into a first block including at least the notice frame, a second block positioned before the first block in time series, and a third block positioned after the first block in time series;
acquiring a secondary tracklet included in the second block from the stored tracklets;
corresponding the secondary tracklet with tracklets included in the first block and the third block, based on a similarity between the secondary tracklet and each of the tracklets; and
associating the secondary tracklet with the corresponded tracklets, as a tertiary tracklet.
10. A non-transitory computer readable medium storing a program for causing a computer to perform operations for tracking a moving object, the operations comprising:
acquiring a plurality of frames in time series;
detecting a plurality of moving objects from the frames;
corresponding each of the moving objects among the frames;
extracting a tracklet of each moving object corresponded;
storing the tracklet of each moving object corresponded;
setting a frame to calculate a position of a moving object to a notice frame;
grouping the frames into a first block including at least the notice frame, a second block positioned before the first block in time series, and a third block positioned after the first block in time series;
acquiring a secondary tracklet included in the second block from the stored tracklets;
corresponding the secondary tracklet with tracklets included in the first block and the third block, based on a similarity between the secondary tracklet and each of the tracklets; and
associating the secondary tracklet with the corresponded tracklets, as a tertiary tracklet.