Moving direction measuring device and tracking apparatus

• US 6,067,367 A
• Filed: 10/28/1997
• Issued: 05/23/2000
• Est. Priority Date: 10/31/1996
• Status: Expired due to Term

• Current Assignee: Yamatake-Honeywell Company Limited
• Original Assignee: Yamatake-Honeywell Company Limited
• Inventors: Nakajima, Hiroshi, Kobayashi, Koji
• Primary Examiner(s): Au, Amelia
• Assistant Examiner(s): Dastouri, Mehrdad
• Application Number:
  US08/959,380
• Time in Patent Office: 938 Days
• Field of Search: 382/103, 382/107, 382/278, 382/280, 382/236, 348/154, 348/155, 348/416, 348/352, 348/699, 356/3, 359/559, 359/560, 359/561, 364/728.03, 364/822
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/262 using transform domain methods, e.g. Fourier domain methods
• CPC Class Codes: H04N 13/221 using the relative movement between cameras and objects
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A moving direction measuring device includes a collation Fourier pattern data generating section, a registration Fourier pattern data generating section, a pattern processing section, and a moving direction measuring section. The collation Fourier pattern data generating section generates collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for two-dimensional pattern data input at time T_n. The registration Fourier pattern data generating section generates registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for two-dimensional pattern data input at time T_n+1. The pattern processing section synthesizes these Fourier two-dimensional pattern data, and performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant data. The moving direction measuring section obtains a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by the pattern processing section, and obtains a direction from a reference position in the correlation component area to a position of the correlation peak as a moving direction of the device.

Claims

1. A moving direction measuring device comprising:

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and

moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a reference position in the correlation component area to a position of the correlation peak as a moving direction of said device.

5. A device according to any one of claims 1 or 2, wherein said moving direction measuring means obtains a correlation peak in a correlation component area appearing in synthesized Fourier two-dimensional pattern data, sets, when not less than two correlation peaks are obtained, a position of one of the correlation peaks which is nearest to a position of a previous correlation peak used to obtain the moving direction of said device as a position of a current correlation peak, and obtains a direction from a reference position in the correlation component area t o th e position of the correlation peak as the current moving direction of said device.

6. A device according to any one of claims 1 or 2, wherein said moving direction measuring means obtains a correlation peak in a correlation component area appearing in synthesized Fourier two-dimensional pattern data, sets, when not less than two correlation peaks are obtained, a position of one of the correlation peaks which is nearest to a position of a previous correlation peak used to obtain the moving direction of said device as a position of a current correlation peak, and obtains a direction from the position of the correlation peak as a starting point to a reference position in the correlation component area as the current moving direction of said device.

2. A moving direction measuring device comprising:

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor;

pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; and

moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a reference position in the correlation component area to a position of the correlation peak as a moving direction of said device.

3. A moving direction measuring device comprising:

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and

moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of said device.

4. A moving direction measuring device comprising:

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor;

pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and

moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of said device.

7. A tracking apparatus comprising:

two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data;

moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from the reference position in the correlation component area to a position of the correlation peak as a moving direction of a target, and a distance from the reference position in the correlation component area to the position of the correlation peak as a moving amount of the target;

predicting means for predicting, on the basis of the moving direction and amount obtained by said moving vector obtaining means, whether the target falls outside a data area of two-dimensional pattern data which is likely to be input at time T_n+2 ;

moving means for, when said predicting means predicts that the target will fall outside the data area of the two-dimensional pattern data which is likely to be input at time T_n+2, moving the visual field of said two-dimensional pattern data input means such that the target falls within the data area of the two-dimensional pattern data input at time T_n+2 ; and

correction means for, if the visual field of said two-dimensional pattern data input means is moved by said moving means, and when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T_n+1 and time T_n+2 correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T_n+1 and time T_n+2, on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means.

12. An apparatus according to claim 7 or 8, wherein said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T_n as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor, and

said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T_n+1 as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor.

8. A tracking apparatus comprising:

two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data;

moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from the reference position in the correlation component area to a position of the correlation peak as a moving direction of a target, and a distance from the reference position in the correlation component area to the position of the correlation peak as a moving amount of the target;

moving means for moving a visual field of said two-dimensional pattern data input means on the basis of the moving direction and amount obtained by said moving vector obtaining means such that the target is located in a data area of two-dimensional pattern data input at next time T_n+2 ; and

correction means for correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T_n+1 and time T_n+2, on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means which is moved by said moving means, when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T_n+1 and time T_n+2.

9. A tracking apparatus comprising:

two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data;

moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of a target, and a distance from the position of the correlation peak to the reference position in the correlation component area as a moving amount of the target;

predicting means for predicting, on the basis of the moving direction and amount obtained by said moving vector obtaining means, whether the target falls outside a data area of two-dimensional pattern data which is likely to be input at time T_n+2 ;

moving means for, when said predicting means predicts that the target will fall outside the data area of the two-dimensional pattern data which is likely to be input at time T_n+2, moving the visual field of said two-dimensional pattern data input means such that the target falls within the data area of the two-dimensional pattern data input at time T_n+2 ; and

correction means for, if the visual field of said two-dimensional pattern data input means is moved by said moving means, and when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T_n+1 and time T_n+2 correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T_n+1 and time T_n+2, on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means.

10. A tracking apparatus comprising:

two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data;

moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of a target, and a distance from the position of the correlation peak to the reference position in the correlation component area as a moving amount of the target;

moving means for moving a visual field of said two-dimensional pattern data input means on the basis of the moving direction and amount obtained by said moving vector obtaining means such that the target is located in a data area of two-dimensional pattern data input at next time T_n+2 ; and

correction means for correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T_n+1 and time T_n+2, on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means which is moved by said moving means, when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T_n+1 and time T_n+2.

11. An apparatus according to any one of claims 7 to 10, wherein said pattern processing means synthesizes the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor.

13. An apparatus according to claim 9 or 10, wherein said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T_n as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor, and

said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T_n+1 as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor.

14. A tracking apparatus comprising:

two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data;

distance measuring means for measuring a distance to a target located in a visual field of said two-dimensional pattern data input means in a direction of depth;

direction-of-depth distance obtaining means for obtaining a difference between a distance L_n to the target in the direction of depth at time T_n, which is measured by said distance measuring means, and a distance L_n+1 '"'"' to the target in the direction of depth at time T_n+1 as a moving distance of the target in the direction of depth;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

enlargement/reduction processing means for performing enlargement/reduction processing for two-dimensional pattern data input at time T_n+1 in accordance with a ratio between the distance L_n to the target in the direction of depth at time T_n, which is measured by said distance measuring means, and the distance L_n+1 '"'"' to the target in the direction of depth at time T_n+1 ;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data;

moving distance obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a distance from the reference position in the correlation component area to a position of the correlation peak as a moving distance of the object on a plane perpendicular to the direction of depth;

moving vector obtaining means for obtaining a moving vector of the target from the moving distance of the target in the direction of depth and the moving distance of the target in the plane perpendicular to the direction of depth which are obtained by said direction-of-depth distance obtaining means and said moving distance obtaining means; and

moving means for moving a position of said two-dimensional pattern data input means on the basis of the moving vector of the target which is obtained by said moving vector obtaining means.

16. An apparatus according to claim 14, wherein said pattern processing means synthesizes the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor.

17. An apparatus according to claim 14, wherein said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T_n as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor, and

said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T_n+1 and having undergone enlargement/reduction processing as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor.

20. An apparatus according to claims 14, 15, 16, 17, 18, 19, wherein said moving means obtains a moving direction θ

of a target at time Tn+1, with time Tn serving as a starting point, and a straight distance Ln+1" to the target at time Tn+1 on the basis of a moving vector of the target which is obtained by said moving vector obtaining means, directs a center of a visual field of said two-dimensional pattern data input means in the obtained moving direction θ

, obtains a difference between the obtained straight distance Ln+1" and a distance Ln to the target at time Tn, and moves said two-dimensional pattern data input means in the moving direction θ

by the distance difference.

21. An apparatus according to claim 20 wherein said distance measuring means includes first and second cameras, uses one of said cameras with said two-dimensional pattern data input means, sets image data picked up by said first camera as registration pattern data, generates registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data, sets image data picked up by said second camera as collation pattern data, generates collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data, synthesizes the collation Fourier two-dimensional pattern data an the registration Fourier two-dimensional pattern data, performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data, obtains a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform, and measures a distance to the target in the direction of depth on the basis of a distance between a position of the correlation peak and the reference position in the correlation component area.

22. An apparatus according to claims 14, 15, 16, 17, 18, 19, wherein said moving means moves a position of said two-dimensional pattern data input means, on the basis of the moving vector of the target which is obtained by said moving vector obtaining means, by using the same vector as the moving vector.

23. An apparatus according to claim 22 wherein said distance measuring means includes first and second cameras, uses one of said cameras with said two-dimensional pattern data input means, sets image data picked up by said first camera as registration pattern data, generates registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data, sets image data picked up by said second camera as collation pattern data, generates collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data, synthesizes the collation Fourier two-dimensional pattern data an the registration Fourier two-dimensional pattern data, performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data, obtains a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform, and measures a distance to the target in the direction of depth on the basis of a distance between a position of the correlation peak and the reference position in the correlation component area.

24. An apparatus according to claims 14, 15, 16, 17, 18, 19, wherein said distance measuring means includes first and second cameras, uses one of said cameras with said two-dimensional pattern data input means, sets image data picked up by said first camera as registration pattern data, generates registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data, sets image data picked up by said second camera as collation pattern data, generates collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data, synthesizes the collation Fourier two-dimensional pattern data an the registration Fourier two-dimensional pattern data, performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data, obtains a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform, and measures a distance to the target in the direction of depth on the basis of a distance between a position of the correlation peak and the reference position in the correlation component area.

15. A tracking apparatus comprising:

two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data;

distance measuring means for measuring a distance to a target located in a visual field of said two-dimensional pattern data input means in a direction of depth;

direction-of-depth distance obtaining means for obtaining a difference between a distance L_n to the target in the direction of depth at time T_n, which is measured by said distance measuring means, and a distance L_n+1 '"'"' to the target in the direction of depth at time T_n+1 as a moving distance of the target in the direction of depth;

collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data;

enlargement/reduction processing means for performing enlargement/reduction processing for two-dimensional pattern data input at time T_n+1 in accordance with a ratio between the distance L_n to the target in the direction of depth at time T_n, which is measured by said distance measuring means, and the distance L_n+1 '"'"' to the target in the direction of depth at time T_n+1 ;

registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T_n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data;

pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data;

moving distance obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a distance from a position of the correlation peak to the reference position in the correlation component area as a moving distance of the object on a plane perpendicular to the direction of depth;

moving vector obtaining means for obtaining a moving vector of the target from the moving distance of the target in the direction of depth and the moving distance of the target in the plane perpendicular to the direction of depth which are obtained by said direction-of-depth distance obtaining means and said moving distance obtaining means; and

moving means for moving a position of said two-dimensional pattern data input means on the basis of the moving vector of the target which is obtained by said moving vector obtaining means.

18. An apparatus according to claim 15, wherein said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T_n as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor, and

said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T_n+1 and having undergone enlargement/reduction processing as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor.

19. An apparatus according to claim 15, wherein said pattern processing means synthesizes the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor.