Patent ID: 11941820
Assignee: SUPERB AI CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 1:
2. The method of claim 1, wherein, at the step of (b), on condition that the 1-st matching pairs have been acquired, the object tracking device (i) (i−1) generates (1_2)-st cropped feature map acquired by cropping regions corresponding to the 1-st bounding boxes in a (1_2)-nd specific pyramid feature map corresponding to a 2-nd specific scale among the (1_1)-st pyramid feature map to the (1_k)-th pyramid feature map, wherein the 2-nd specific scale is a greater scale than the 1-st specific scale, (i−2) selects a (2_2)-nd specific pyramid feature map corresponding to the 2-nd specific scale among the (2_1)-st pyramid feature map to the (2_k)-th pyramid feature map, (i−3) converts specific 1-st feature descriptors and the specific 2-nd feature descriptors corresponding to the 1-st matching pairs respectively to 1-st feature descriptors of the (1_2)-nd cropped feature map and 2-nd feature descriptors on the (2_2)-nd specific pyramid feature map, (i−4) inputs 1-st windows cropped to include each of the 1-st feature descriptors of the (1_2)-nd cropped feature map and 2-nd windows cropped to include each of the 2-nd feature descriptors on the (2_2)-nd specific pyramid feature map into a 2-nd self-attention layer and a 2-nd cross-attention layer, thereby instructing the 2-nd self-attention layer and the 2-nd cross attention layer to respectively perform operations related to self-attention and operations related to cross-attention on the 1-st windows and the 2-nd windows and thus generate (1_2)-nd conversion feature maps centering each of the 1-st feature descriptors on the (1_2)-nd cropped feature map and (2_2)-nd conversion feature maps centering each of the 2-nd feature descriptors on the (2_2)-nd specific pyramid feature map, and (i−5) generate specific 1-st feature descriptors on the (1_2)-nd cropped feature map corresponding to central vectors of the (1_2)-nd conversion feature maps and specific 2-nd feature descriptors on the (2_2)-nd specific pyramid feature map corresponding to specific vectors of the (2_2)-nd conversion feature maps matching with the specific 1-st feature descriptors, thereby generating 2-nd matching pairs, by using heatmaps indicating 2-nd matching probabilities generated by correlating the central vectors of the (1_2)-nd conversion feature maps with all vectors of the (2_2)-nd conversion feature maps corresponding to each of the (1_2)-nd conversion feature maps and performing softmax operation thereon, and (ii) selects a specific 2-nd bounding box containing specific 2-nd features the most corresponding to the specific 2-nd feature descriptors according to the 2-nd matching pairs among the 2-nd bounding boxes, thereby imparting the specific unique ID identical to that of the specific 1-st object corresponding to the specific 1-st bounding box to the specific 2-nd object corresponding to the specific 2-nd bounding box and thus performing the object tracking.