Object tracking device, object tracking method, and object tracking program
To identify and track a plurality of objects. An object tracking device 1 includes a frame acquisition unit 31 for acquiring one set of frame data 11 included in moving image data that captures a space where a plurality of objects are present; a distance acquisition unit 32 for acquiring measurement data 12 from measurement of three-dimensional coordinates of points configuring the objects in the space where the objects are present; an object position detection unit 33 for detecting a two-dimensional position of each of the objects from the frame data 11 on the basis of comparison with template data of each of the objects; an object distance detection unit 34 for detecting a plurality of three-dimensional positions of the objects from the measurement data 12 ; and an associating unit 35 for associating each two-dimensional position from the object position detection unit 33 with the nearest three-dimensional position among the three-dimensional positions from the object distance detection unit 34.
1. An object tracking device for tracking, from moving image data that captures a space where a plurality of objects are present, positions of the objects, the object tracking device comprising: a frame acquisition unit, including one or more processors, for acquiring one set of frame data included in the moving image data that captures the space where the objects are present; a distance acquisition unit, including one or more processors, for acquiring measurement data from measurement of three-dimensional coordinates of points configuring the objects in the space where the objects are present; an object position detection unit, including one or more processors, for detecting a two-dimensional position of each of the objects from the frame data on the basis of comparison with template data of each of the objects; an object distance detection unit, including one or more processors, for detecting a plurality of three-dimensional positions of the objects from the measurement data; and an associating unit, including one or more processors, for associating each two-dimensional position output from the object position detection unit with the nearest three-dimensional position among the three-dimensional positions output from the object distance detection unit, processes of the distance acquisition unit, the object position detection unit, the object distance detection unit, and the associating unit being repeated for other sets of frame data included in the moving image data.
2. The object tracking device according to claim 1 , further comprising: a specific site position detection unit, including one or more processors, for detecting a two-dimensional position of a specific site of the object from the two-dimensional position of the object; a specific site distance detection unit, including one or more processors, for detecting a three-dimensional position of the specific site of the object from the three-dimensional position of the object; and a state estimation unit, including one or more processors, for estimating a state of the object from the two- and three-dimensional positions of the specific site.
3. The object tracking device according to claim 1 , wherein if a plurality of three-dimensional positions are present near a predetermined two-dimensional position, the associating unit identifies a three-dimensional position nearest the predetermined two-dimensional position with reference to a process result of a frame other than the process target frame.
4. An object tracking method of tracking, from moving image data that captures a space where a plurality of objects are present, positions of the objects, the object tracking method comprising the steps of: acquiring, by a computer, one set of frame data included in the moving image data that captures the space where the objects are present; acquiring, by the computer, measurement data from measurement of three-dimensional coordinates of points configuring the objects in the space where the objects are present; detecting, by the computer, a two-dimensional position of each of the objects from the frame data on the basis of comparison with template data of each of the objects; detecting, by the computer, a plurality of three-dimensional positions of the objects from the measurement data; and associating, by the computer, each two-dimensional position output from the step of detecting a two-dimensional position with the nearest three-dimensional position among the three-dimensional positions output from the step of detecting a plurality of three-dimensional positions, the computer repeating each step.
5. The object tracking method according to claim 4 , further comprising the steps of: detecting, by the computer, a two-dimensional position of a specific site of each object from the two-dimensional position of each object; detecting, by the computer, a three-dimensional position of the specific site of each object from the three-dimensional position of each object; and estimating, by the computer, a state of each object from the two- and three-dimensional positions of the specific site.
6. The object tracking method according to claim 4 , wherein if a plurality of three-dimensional positions are present near a predetermined two-dimensional position, the associating step comprises identifying a three-dimensional position nearest the predetermined two-dimensional position with reference to a process result of a frame other than the process target frame.
7. An object tracking program for causing a computer to function as the object tracking device according to claim 1 .