Tracking Processing Apparatus, Tracking Processing Method, and Computer Program
First Claim
1. A tracking processing apparatus comprising:
- first state-variable-sample-candidate generating means for generating state variable sample candidates at first present time on the basis of main state variable probability distribution information at preceding time;
plural detecting means each for performing detection concerning a predetermined detection target related to a tracking target;
sub-information generating means for generating sub-state variable probability distribution information at present time on the basis of detection information obtained by the plural detecting means;
second state-variable-sample-candidate generating means for generating state variable sample candidates at second present time on the basis of the sub-state variable probability distribution information at the present time;
state-variable-sample acquiring means for selecting state variable samples out of the state variable sample candidates at the first present time and the state variable sample candidates at the second present time at random according to a predetermined selection ratio set in advance; and
estimation-result generating means for generating main state variable probability distribution information at the present time as an estimation result on the basis of likelihood calculated on the basis of the state variable samples and an observation value at the present time.
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Abstract
A tracking processing apparatus includes: first state-variable-sample-candidate generating means for generating state variable sample candidates at first present time; plural detecting means each for performing detection concerning a predetermined detection target related to a tracking target; sub-information generating means for generating sub-state variable probability distribution information at present time; second state-variable-sample-candidate generating means for generating state variable sample candidates at second present time; a state-variable-sample acquiring means for selecting state variable samples out of the state variable sample candidates at the first present time and the state variable sample candidates at the second present time at random according to a predetermined selection ratio set in advance; and estimation-result generating means for generating main state variable probability distribution information at the present time as an estimation result.
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Citations
8 Claims
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1. A tracking processing apparatus comprising:
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first state-variable-sample-candidate generating means for generating state variable sample candidates at first present time on the basis of main state variable probability distribution information at preceding time; plural detecting means each for performing detection concerning a predetermined detection target related to a tracking target; sub-information generating means for generating sub-state variable probability distribution information at present time on the basis of detection information obtained by the plural detecting means; second state-variable-sample-candidate generating means for generating state variable sample candidates at second present time on the basis of the sub-state variable probability distribution information at the present time; state-variable-sample acquiring means for selecting state variable samples out of the state variable sample candidates at the first present time and the state variable sample candidates at the second present time at random according to a predetermined selection ratio set in advance; and estimation-result generating means for generating main state variable probability distribution information at the present time as an estimation result on the basis of likelihood calculated on the basis of the state variable samples and an observation value at the present time. - View Dependent Claims (2, 3, 4, 5)
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6. A tracking processing method comprising the steps of:
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generating state variable sample candidates at first present time on the basis of main state variable probability distribution information at preceding time; generating sub-state variable probability distribution information at present time on the basis of detection information obtained by detecting means that each performs detection concerning a predetermined detection target related to a tracking target; generating state variable sample candidates at second present time on the basis of the sub-state variable probability distribution information at the present time; selecting state variable samples out of the state variable sample candidates at the first present time and the state variable sample candidates at the second present time at random according to a predetermined selection ratio set in advance; and generating main state variable probability distribution information at the present time as an estimation result on the basis of likelihood calculated on the basis of the state variable samples and an observation value at the present time.
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7. A computer program for causing a tracking processing apparatus to execute:
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a first state-variable-sample-candidate generating step of generating state variable sample candidates at first present time on the basis of main state variable probability distribution information at preceding time; a sub-information generating step of generating sub-state variable probability distribution information at present time on the basis of detection information obtained by detecting means that each performs detection concerning a predetermined detection target related to a tracking target; a second state-variable-sample-candidate generating step of generating state variable sample candidates at second present time on the basis of the sub-state variable probability distribution information at the present time; a state-variable-sample acquiring step of selecting state variable samples out of the state variable sample candidates at the first present time and the state variable sample candidates at the second present time at random according to a predetermined selection ratio set in advance; and an estimation-result generating step of generating main state variable probability distribution information at the present time as an estimation result on the basis of likelihood calculated on the basis of the state variable samples and an observation value at the present time.
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8. A tracking processing apparatus comprising:
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a first state-variable-sample-candidate generating unit configured to generate state variable sample candidates at first present time on the basis of main state variable probability distribution information at preceding time; plural detecting units each configured to perform detection concerning a predetermined detection target related to a tracking target; a sub-information generating unit configured to generate sub-state variable probability distribution information at present time on the basis of detection information obtained by the plural detecting units; a second state-variable-sample-candidate generating unit configured to generate state variable sample candidates at second present time on the basis of the sub-state variable probability distribution information at the present time; a state-variable-sample acquiring unit configured to select state variable samples out of the state variable sample candidates at the first present time and the state variable sample candidates at the second present time at random according to a predetermined selection ratio set in advance; and an estimation-result generating unit configured to generate main state variable probability distribution information at the present time as an estimation result on the basis of likelihood calculated on the basis of the state variable samples and an observation value at the present time.
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Specification