Target tracking system and target tracking method
First Claim
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1. A target tracking system which tracks targets using a plurality of virtual particles, comprising:
- a detector which detects the targets based on a signal wave from the targets and outputs detected results as detected target positions;
a fluctuation distribution unit which generates fluctuations arising from at least disturbances and measurement errors;
an estimation unit which sets the virtual particles based on the fluctuations and estimates a true target positions based on the detected target positions;
a prediction part which predicts positions of the targets as predicted target positions; and
an estimation part which estimates the true target positions based on a plurality of the predicted target positions from the prediction part,wherein,the detector detects a plurality of the targets from the signal wave continuously or at a time interval set in advance,a plurality of the estimation units calculate the true target positions, respectively, andthe prediction part stores a motion parameter related to at least an initial position, a speed and an acceleration of the targets and a movement model including the fluctuations from the fluctuation distribution unit, and predicts, according to the estimated target positions, positions of the targets at predetermined timing in a future set in advance using a plurality of the virtual particles on a target-by-target basis, the predetermined timing occurring after current target detection timing.
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Abstract
A target tracking system which tracks targets using a plurality of virtual particles includes a detector which detects the targets based on a signal wave from the targets and outputs a detected results as a detected target positions, a fluctuation distribution unit which generates fluctuations arising from at least disturbances and measurement errors, and an estimation unit which sets virtual particles based on the fluctuations and estimates a true target positions based on the detected target positions.
4 Citations
8 Claims
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1. A target tracking system which tracks targets using a plurality of virtual particles, comprising:
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a detector which detects the targets based on a signal wave from the targets and outputs detected results as detected target positions; a fluctuation distribution unit which generates fluctuations arising from at least disturbances and measurement errors; an estimation unit which sets the virtual particles based on the fluctuations and estimates a true target positions based on the detected target positions; a prediction part which predicts positions of the targets as predicted target positions; and an estimation part which estimates the true target positions based on a plurality of the predicted target positions from the prediction part, wherein, the detector detects a plurality of the targets from the signal wave continuously or at a time interval set in advance, a plurality of the estimation units calculate the true target positions, respectively, and the prediction part stores a motion parameter related to at least an initial position, a speed and an acceleration of the targets and a movement model including the fluctuations from the fluctuation distribution unit, and predicts, according to the estimated target positions, positions of the targets at predetermined timing in a future set in advance using a plurality of the virtual particles on a target-by-target basis, the predetermined timing occurring after current target detection timing. - View Dependent Claims (2, 7, 8)
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3. A target tracking method for tracking a target using a plurality of virtual particles, comprising:
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a detection procedure for detecting the targets based on a signal wave from the targets and for outputting detected results as detected target positions; a fluctuation procedure for generating fluctuations arising from at least disturbances and measurement errors; an estimation procedure for setting the virtual particles based on the fluctuations and for estimating a true target positions based on the detected target positions; a prediction procedure for predicting positions of the targets as predicted target positions; and an estimation procedure for estimating the true target positions of the target based on a plurality of the predicted target positions from the prediction part, wherein, the detection procedure detects a plurality of the targets from the signal wave continuously or at a time interval set in advance, a plurality of the estimation procedures calculate and output the true target positions, respectively, and the prediction procedure stores a motion parameter related to at least an initial position, a speed and an acceleration of the targets and a movement model including the fluctuations from the fluctuation procedure, and predicts, according to the estimated target positions, positions of the targets at predetermined timing in a future set in advance using a plurality of the virtual particles on a target-by-target basis, the predetermined timing occurring after current target detection timing. - View Dependent Claims (4, 5, 6)
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Specification