Patent ID: 9298990
Filing Date: 2016-03-29
CPC Classification: G06K,G06T

Claim Text:
1. A method of tracking plural some-type objects based on continuous disparity maps, comprising: a step of obtaining a first boundary region of a waiting-for-recognition object, which is detected from a disparity map related to current frame, in the disparity map related to the current frame; a step of calculating a probability of each valid pixel in the first boundary region of the waiting-for-recognition object belonging to a pixel for forming the waiting-for-recognition object, so as to obtain a pixel probability map of the waiting-for-recognition object; a step of obtaining historic tracking data of each tracked object, which includes identifier information of the tracked object and a pixel probability map related to each of one or more prior frame related disparity maps prior to the disparity map related to the current frame; a step of determining, based on matching of the pixel probability map of the waiting-for-recognition object and each of one or more pixel probability maps of each tracked object, identifier information of the waiting-for-recognition object, and updating the pixel probability map of the waiting-for-recognition object; and a step of updating, based on the updated pixel probability map of the waiting-for-recognition object, the first boundary region of the waiting-for-recognition object, so as to obtain a second boundary region of the waiting-for-recognition object.