Patent ID: 11960005
Assignee: KIA CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 5:
6. The method according to claim 4, wherein obtaining the information on the points of the current tracking box comprises:
generating sets of points of the previous tracking box and the points of the associated segment box as follows:, [
    
     
      
       
        P
        
         
          (
          
           t
           -
           1
          
          )
         
         ⁢
         0
        
       
      
     
     
      
       
        P
        
         
          (
          
           t
           -
           1
          
          )
         
         ⁢
         1
        
       
      
     
     
      
       
        P
        
         
          (
          
           t
           -
           1
          
          )
         
         ⁢
         2
        
       
      
     
     
      
       
        P
        
         
          (
          
           t
           -
           1
          
          )
         
         ⁢
         3
        
       
      
     
    
    ]
   
   
    ⋃
    
     n
     =
     4
    
   
   
    each
       
    [
    
     
      
       
        P
        0
       
      
     
     
      
       
        P
        1
       
      
     
     
      
       
        P
        2
       
      
     
     
      
       
        P
        3
       
      
     
    
    ]
   
  
  =
  
   
   
    [
    
     
      
       
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            0
           
          
          ,
          
           P
           0
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            1
           
          
          ,
          
           P
           1
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            2
           
          
          ,
          
           P
           2
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            3
           
          
          ,
          
           P
           3
          
         
         )
        
       
      
     
     
      
       
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            0
           
          
          ,
          
           P
           1
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             
              t
              -
              1
             
             )
            
            ⁢
            1
           
          
          ,
          
           P
           2
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            2
           
          
          ,
          
           P
           3
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            3
           
          
          ,
          
           P
           0
          
         
         )
        
       
      
     
     
      
       
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            0
           
          
          ,
          
           P
           2
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            (
            
             t
             -
             1
            
            )
           
          
          ,
          
           P
           3
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            2
           
          
          ,
          
           P
           0
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            3
           
          
          ,
          
           P
           1
          
         
         )
        
       
      
     
     
      
       
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            0
           
          
          ,
          
           P
           3
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            1
           
          
          ,
          
           P
           0
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            1
           
          
          ,
          
           P
           0
          
         
         )
        
        ⁢
        
         (
         
          
           P
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            3
           
          
          ,
          
           P
           2
          
         
         )
        
       
      
     
    
    ]
   
  
 

where P(t-1)0, P(t-1)1, P(t-1)2 and P(t-1)3 represent the points of the previous tracking box, and P0, P1, P2 and P3 represent the points of the associated segment box;
calculating Euclidean distance values for the sets as follows:, 0
               n
              
              
               γ
                
                
              
             
             =
             
              
               
                (
                
                 x
                 
                  
                   (
                   
                    t
                    -
                    1
                   
                   )
                  
                  ⁢
                  0
                 
                 2
                
               
              
              +
              
               x
               0
               2
              
             
            
            )
           
           +
           
            (
            
             
              y
              
               
                (
                
                 t
                 -
                 1
                
                )
               
               ⁢
               0
              
              2
             
             +
             
              y
              0
              2
             
            
            )
           
          
          ⁢
          

          
           
            
              
             1
             n
            
            
             γ
              
              
            
           
           =
           
            
             
              (
              
               x
               
                
                 (
                 
                  t
                  -
                  1
                 
                 )
                
                ⁢
                0
               
               2
              
             
            
            +
            
             x
             1
             2
            
           
          
         
         )
        
        +
        
         (
         
          
           y
           
            
             (
             
              t
              -
              1
             
             )
            
            ⁢
            1
           
           2
          
          +
          
           y
           1
           2
          
         
         )
        
       
       ⁢
       

       
        
         
           
          2
          n
         
         
          γ
           
           
         
        
        =
        
         
          
           (
           
            x
            
             
              (
              
               t
               -
               1
              
              )
             
             ⁢
             2
            
            2
           
          
         
         +
         
          x
          2
          2
         
        
       
      
      )
     
     +
     
      (
      
       
        y
        
         
          (
          
           t
           -
           1
          
          )
         
         ⁢
         2
        
        2
       
       +
       
        y
        2
        2
       
      
      )
     
    
    ⁢
    

    
     
      
        
       3
       n
      
      
       γ
        
        
      
     
     =
     
      
       
        (
        
         x
         
          
           (
           
            t
            -
            1
           
           )
          
          ⁢
          3
         
         2
        
       
      
      +
      
       x
       3
       2
      
     
    
   
   )
  
  +
  
   (
   
    
     y
     
      
       (
       
        t
        -
        1
       
       )
      
      ⁢
      3
     
     2
    
    +
    
     y
     3
     2
    
   
   )
  
 

where 0nγ, 1nγ, 2nγ and 3n γ represent the Euclidean distance values, and where, in a space where the point cloud data is distributed, x(t-1)0 and y(t-1)0 respectively represent a vertical coordinate and a horizontal coordinate of P(t-1)0, x(t-1)1 and y(t-1)1 respectively represent a vertical coordinate and a horizontal coordinate of P(t-1)1, x(t-1)2 and y(t-1)2 respectively represent a vertical coordinate and a horizontal coordinate of P(t-1)2, x(t-1)3 and y(t-1)3 respectively represent a vertical coordinate and a horizontal coordinate of P(t-1)3, x0 and y0 respectively represent a vertical coordinate and a horizontal coordinate of P0, x1 and y1 respectively represent a vertical coordinate and a horizontal coordinate of P1, x2 and y2 respectively represent a vertical coordinate and a horizontal coordinate of P2, x3 and y3 respectively represent a vertical coordinate and a horizontal coordinate of P3, and n={0, 1, 2, 3};
selecting a combination having a highest degree of coupling from among four combinations below using the Euclidean distance values as follows:

δ0=(00γ+10γ+20γ+30γ)

⋅

⋅

⋅

δ3=(03γ+13γ+23γ+33γ)

δn=(0nγ+1nγ+2nγ+3nγ)

where δ0 to δ3 represent the four combinations, and the combination having the highest degree of coupling corresponds to a combination having a smallest value among δ0 to δ3; and
determining, among matching relationships between points of the four combinations shown below, points of the current tracking box using matching relationships corresponding to the selected combination:, n0γ
n1γ
n2γ
n3γ

δ0
(Pt0, P0)
(Pt1, P1)
(Pt2, P2)
(Pt3, P3)

δ1
(Pt0, P1)
(Pt1, P1)
(Pt2, P3)
(Pt3, P0)

δ2
(Pt0, P2)
(Pt1, P3)
(Pt2, P0)
(Pt3, P1)

δ3
(Pt0, P3)
(Pt1, P0)
(Pt2, P1)
(Pt3, P2)

where Pt0, Pt1, Pt2 and Pt3 represent the points of the current tracking box.