Patent Document ID: 8989438
Application ID: 13391199

Base Claim:
1. A mobile body track identification system comprising: a track-coupling candidate generation part that is configured to generate track-coupling candidates corresponding to combinations of tracks of mobile bodies detected in a predetermined time in the past; a hypothesis generation part that is configured to generate sets of track-coupling candidate/identification pairs combining track-coupling candidates and identifications of mobile bodies detected in the predetermined time in the past, thus generating hypotheses corresponding to sets of track-coupling candidate/identification pairs satisfying a predetermined condition; and a likelihood calculation part which is configured to select individual hypotheses so as to calculate identification likelihoods representing likelihoods of detecting identifications with respect to tracks indicated by track-coupling candidates included in each of track-coupling candidate/identification pairs ascribed to each of the selected hypotheses, and to integrate identification likelihoods for each track-coupling candidate/identification pair so as to calculate an identification likelihood for each of the selected hypotheses, to estimate a most-probable hypothesis based on identification likelihoods of hypotheses.

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Claim 2:
2. The mobile body track identification system according to claim 1 further comprising a map storage that is configured to store a probability map defining detection probabilities of identifications of mobile bodies in response to positional coordinates of mobile bodies in the tracking area in advance, wherein the likelihood calculation part includes an identification likelihood calculation part which is configured to specify a position of a mobile body on tracks indicated by each track-coupling candidate at each identification detection time for each track-coupling candidate/identification pair ascribed to each of the selected hypotheses, to read a probability value of detecting the mobile body at the position from the probability map, to calculate an identification likelihood based on the probability value, to integrate identification likelihoods for each track-coupling candidate/identification pair so as to calculate an identification likelihood regarding each of the selected hypotheses, and a most-probable estimation part that is configured to estimate the most-probable hypothesis based on identification likelihoods of hypotheses.