Method and system for tracking objects
First Claim
1. An object detection system configured to minimize processing time for tracking objects, the object detection system comprising:
- a memory storage system configured to store detected objects from a previous iteration so as to define a first object group of dynamic objects at the beginning of a predetermined interval;
a sensor configured to detect objects in a predetermined geographic area at the predetermined interval so as to define a second object group detected at the end of the predetermined interval;
a processor in communication with the sensor, the processor configured to determine which of the objects are dynamic and to predict a location for each of the dynamic objects in the first object group at the end of the predetermined interval; and
a pair of filters configured to associate the dynamic objects from the first object group with the dynamic objects from the second object group so as to track the dynamic objects, an optimization filter, and a processing filter, the processor processing the predicted location of dynamic objects from the first object group and dynamic objects from the second object group through the pair of filters, the processor first executing one of the pair of filters so as to associate objects from the second object group with a corresponding dynamic object from the first object group when the predicted location is within a predetermined distance of each other, and the processor subsequently executing the other of the pair of filters so as to each of the dynamic objects from the first object group with one of the corresponding objects in the second object group when the probability that the dynamic object from the second object group is the dynamic object from the first object group is greater than a predetermined probability, the optimization filter associating the unassociated dynamic objects from the first object group with the unassociated dynamic objects from the second object group, the processing filter reconfigured to sort the unassociated dynamic objects from the second object group into a plurality of discrete categories, the optimization filter filtering each of plurality of discrete categories independently so as to associate the unassociated dynamic objects from the second object group with dynamic objects from the first object group.
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Abstract
An object tracking system and method operable to minimize processing time for tracking objects is provided. The system includes a pair of filters operable to make associations between dynamic objects newly detected and previously detected. One of the pair of filters makes an association when the predicted location of the previously detected objects is within a predetermined distance of the newly detected object. The other of the pair of filters makes an association based upon the probability that a newly detected dynamic object is a previously detected dynamic object. The remaining unassociated dynamic objects are then localized so as to form discrete matrices for optimization filters.
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Citations
15 Claims
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1. An object detection system configured to minimize processing time for tracking objects, the object detection system comprising:
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a memory storage system configured to store detected objects from a previous iteration so as to define a first object group of dynamic objects at the beginning of a predetermined interval; a sensor configured to detect objects in a predetermined geographic area at the predetermined interval so as to define a second object group detected at the end of the predetermined interval; a processor in communication with the sensor, the processor configured to determine which of the objects are dynamic and to predict a location for each of the dynamic objects in the first object group at the end of the predetermined interval; and a pair of filters configured to associate the dynamic objects from the first object group with the dynamic objects from the second object group so as to track the dynamic objects, an optimization filter, and a processing filter, the processor processing the predicted location of dynamic objects from the first object group and dynamic objects from the second object group through the pair of filters, the processor first executing one of the pair of filters so as to associate objects from the second object group with a corresponding dynamic object from the first object group when the predicted location is within a predetermined distance of each other, and the processor subsequently executing the other of the pair of filters so as to each of the dynamic objects from the first object group with one of the corresponding objects in the second object group when the probability that the dynamic object from the second object group is the dynamic object from the first object group is greater than a predetermined probability, the optimization filter associating the unassociated dynamic objects from the first object group with the unassociated dynamic objects from the second object group, the processing filter reconfigured to sort the unassociated dynamic objects from the second object group into a plurality of discrete categories, the optimization filter filtering each of plurality of discrete categories independently so as to associate the unassociated dynamic objects from the second object group with dynamic objects from the first object group. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. Method of tracking objects comprising the steps of:
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storing data from previous iterations so as to define a first object group; gathering data related to objects at predetermined intervals of time so as to detect a second object group; processing the data so as to classify an object as being either dynamic or static; predicting the location of dynamic objects in the first object group; and associating objects from the first object group with objects from the second object group, wherein the remaining unassociated objects are associated with each other using an optimization filter. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An object detection system configured to minimize processing time for tracking objects, the object detection system comprising:
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a memory storage system used for storing detected objects from a previous iteration so as to define a first object group of dynamic objects at the beginning of a predetermined interval; a sensor configured to detect objects in a predetermined geographic area at the predetermined interval so as to define a second object group detected at the end of the predetermined interval; a processor in communication with the sensor, the processor configured to determine which of the objects are dynamic and to predict the location for each of the dynamic objects in the first object group at the end of the predetermined interval; and a pair of filters configured to associate the dynamic objects from the first object group with the dynamic objects from the second object group so as to track the dynamic objects, the processor processing the predicted location of dynamic objects from the first object group and dynamic objects from the second object groups through the pair of filters, the processor first executing one of the pair of filters, associating objects from the second object group with a corresponding dynamic object from the first object group when the predicted location is within a predetermined distance of each other, the processor subsequently executing the other of the pair of filters, associating each of the dynamic objects from the first object group with one of the corresponding objects in the second object group when the probability that the dynamic object from the second object group is the dynamic object from the first object group is greater than a predetermined probability, the processor further configured to sort unassociated dynamic objects from the second object group into a plurality of discrete categories, and processes each of the plurality of discrete categories independently so as to associate the unassociated objects from the second object group with dynamic objects from the first object group.
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Specification