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Object tracking method and device, and recording medium storing program for executing method

An object tracking and object technology, applied in the direction of measuring devices, control devices, transportation and packaging, etc., can solve problems such as inaccurate and inaccurate heading angles

Pending Publication Date: 2022-06-28
HYUNDAI MOTOR CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the heading angle may not be accurate in certain situations
The heading angle calculated based on the absolute velocity of the trajectory may be inaccurate in cases where the velocity accuracy is low, such as when the trajectory is moving at a low speed or in a traffic jam

Method used

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  • Object tracking method and device, and recording medium storing program for executing method
  • Object tracking method and device, and recording medium storing program for executing method
  • Object tracking method and device, and recording medium storing program for executing method

Examples

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Embodiment Construction

[0038]The present disclosure will now be described more fully with reference to the accompanying drawings, in which various embodiments are shown. These examples may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0039] It will be understood that when an element is referred to as being "on" or "under" another element, it can be directly on / under the element, or one or more intervening elements may also be present.

[0040] When an element is referred to as being "on" or "under" the element, it is both "under the element" and "on the element."

[0041] Additionally, relational terms such as "first", "second", "upper / upper / over" and "lower / lower / under" are used only to distinguish one body or element from another and not necessarily...

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PUM

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Abstract

The present disclosure relates to an object tracking method and apparatus, and a recording medium storing a program for executing the method, the object tracking method comprising: obtaining a course angle of a trajectory based on a current speed using a speed in a current recognition period (T) of the trajectory for tracking the object generated from a point cloud related to the object; accumulating scores associated with information about heading angles based on the current speed and incorporating the accumulated scores into a heading history having regions divided for the respective heading angles of the trajectory; obtaining a history-based course angle of the trajectory by using a course history; and correcting the history-based course angle using information on the shape of the trajectory and determining the correction result as a final course angle in the current recognition period (T).

Description

technical field [0001] The present disclosure relates to an object tracking method and apparatus and a recording medium storing a program for executing the method. Background technique [0002] The heading angle of the Light Detection and Ranging (LiDAR) track of the object is generated from the point cloud associated with the object acquired with the LiDAR sensor and can utilize a filter or the absolute velocity of the track get. [0003] However, the heading angle may not be accurate in certain situations. The heading angle calculated based on the absolute velocity of the trajectory may be inaccurate in situations where the velocity accuracy is low, such as when the trajectory is moving at low speed or in traffic congestion. Contents of the invention [0004] Accordingly, the present disclosure is directed to an object tracking method and apparatus and a recording medium storing a program executing the method that substantially obviate one or more problems due to limit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/10G01S17/66G01S17/58
CPCG01S17/10G01S17/66G01S17/58G06T2207/10028G06T2207/30244G06T2207/30241G06T7/20G01S17/931G01S7/4808G01S7/497G01S17/89B60W30/095G06T7/70B60W40/04B60W2554/803B60W2554/804G06T2207/30252B60W2556/10B60W2754/70B60W2554/806B60W2420/408
Inventor 柳玟均
Owner HYUNDAI MOTOR CO LTD