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Attribute and topology based change detection in a constellation of previously detected objects

  • US 9,239,382 B2
  • Filed: 08/26/2011
  • Issued: 01/19/2016
  • Est. Priority Date: 08/26/2010
  • Status: Active Grant
First Claim
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1. A method in a computing device for determining whether a designated newly detected object represents an object that does not correspond to an object in a constellation of previously detected objects, the method comprising:

  • for each of a plurality of edge attributes, providing a likelihood function for generating a matching score indicating how well values for the edge attribute match;

    selecting a root previously detected object and a root newly detected object as having a root correspondence;

    calculating previous values for edge attributes for edges connecting the previously detected object to the root previously detected object from attributes of the previously detected objects;

    calculating new values for edge attributes for edges connecting newly detected objects to the root newly detected object from attributes of the newly detected objects; and

    indicating that the designated newly detected object is not a previously detected object based onfor each of a plurality of pairs of a previously detected object and a newly detected object,for each edge attribute, generating a matching score using the provided likelihood function for the edge attribute to indicate how well the previous value of the edge attribute of the previously detected object of the pair and the new value of the edge attribute of the newly detected object of the pair match; and

    combining the matching scores for the edge attributes into a combined matching score to indicate how well the previously detected object and the newly detected object of the pair match; and

    applying a minimal cost assignment algorithm to costs derived from the combined matching scores to identify which newly detected objects correspond to which previously detected objects.

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