Provided are a small drone tracking method and an apparatus thereof. The tracking apparatus registers feature points of an interested region as an interested point in an input frame, performs kalman filter based prediction for the frame to acquire a prediction result, and performs optical flow based tracking using the interested point to acquire an estimated result. The tracking apparatus uses the prediction result as a reference and compares the estimated result to determine whether tracking of a drone, an object, is successful.

    소형 무인체 추적 방법 및 장치가 제공된다. 추적 장치는 입력되는 프레임에서 관심 영역의 특징점들을 관심점으로 등록하고, 상기 프레임에 대해 칼만 필터 기반 타깃 예측을 수행하여 예측 결과를 획득하며, 상기 관심점을 이용하여 옵티컬 플로우(optical flow) 기반 추적을 수행하여 추정 결과를 획득한다. 그리고 추적 장치는 상기 예측 결과를 기준으로 사용하여 상기 추정 결과를 비교하는 것에 의해, 상기 객체인 상기 무인체의 추적 성공 여부를 판단한다.


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    Title :

    Method and apparatus for tracking small drone


    Additional title:

    소형 무인 비행체 추적 방법 및 장치


    Contributors:
    JEON JINWOO (author) / SON SOHEE (author) / CHOI HAECHUL (author) / LEE INJAE (author) / CHA JIHUN (author)

    Publication date :

    2021-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64C AEROPLANES , Flugzeuge



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