CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is based on and claims priority to China Patent Application No. 201910805803.7 filed on Aug. 29, 2019, the disclosure of which is incorporated by reference herein in its entirety.

TECHNICAL FIELD

The present disclosure relates to the field of artificial intelligence technology, and in particular, to a target tracking method, a target tracking device, a target tracking system, and a non-transitory computer-readable storage medium.

BACKGROUND

At present, in many areas, there is a need to perform target detection and tracking of the pedestrians within a monitoring range. With the development of artificial intelligence, the processing capability of tracking a trajectory of the pedestrians based on deep learning has been greatly developed.

In the related art, based on the deep learning method, the positions of the same person in multiple frame images are matched, and the matched positions are connected to obtain a trajectory of the person.

SUMMARY

According to some embodiments of the present disclosure, a target tracking method is provided. The method comprises: determining an area where a current target is located, by performing target detection on a current frame image; extracting a current position information of the area where the current target is located; predicting a position information of an area where each historical target is located at a moment of the current frame image, based on historical position information of an area where each historical target is located on one or more historical frame images; and determining a historical target that is the same target as the current target, based on a position difference between the current position information and the predicted position information, and tracking the current target.

In some embodiments, the predicting a position information of an area where each historical target is located at a corresponding moment of the current frame image comprises: predicting the position information of the area where each historical target is located at the corresponding moment of the current frame image, by a non-linear filtering method.

In some embodiments, the predicting the position information of an area where each historical target is located at the corresponding moment of the current frame image comprises: predicting the position information of the area where each historical target is located at the corresponding moment of the current frame image, with center point coordinates, aspect ratio and height of the area where each historical target is located on one or more historical frame images, as well as a rate of change in the center point coordinates, a rate of change in the aspect ratio and a rate of change in the height as inputs of the non-linear filtering method.

In some embodiments, the target tracking method further comprises: extracting a current feature vector of the area where the current target is located on the current frame image; obtaining a historical feature vector of the area where each historical target is located on one or more historical frame images; and determining a feature difference between the current target and the each historical target, based on the current feature vector and each historical feature vector; wherein the determining a historical target that is the same target as the current target comprises: determining the historical target that is the same target as the current target, based on the feature difference and the position difference.

In some embodiments, the determining a feature difference between the current target and the each historical target comprises: determining the feature difference, based on a minimum cosine distance between the current feature vector and the each historical feature vector.

In some embodiments, the position difference is determined based on a Mahalanobis distance between the current position information and the predicted position information.

In some embodiments, the tracking the current target comprises: updating a historical trajectory where the historical target is located, based on the current position information, and forming a tracking trajectory of the current target.

In some embodiments, the forming a tracking trajectory of the current target comprises: converting coordinates of each trajectory point in the historical trajectory updated in an image coordinate system into coordinates in a world coordinate system, and determining the tracking trajectory.

According to other embodiments of the present disclosure, a target tracking device is provided. The target tracking device comprises one or more processors configured to: determine an area where a current target is located, by performing target detection on a current frame image; extract a current position information of the area where the current target is located; predict a position information of an area where each historical target is located at a moment of the current frame image, based on historical position information of an area where each historical target is located on one or more historical frame images; and determine a historical target that is the same target as the current target, based on a position difference between the current position information and the predicted position information, and tracking the current target.

In some embodiments, the predicting a position information of an area where each historical target is located at a corresponding moment of the current frame image comprises: predicting the position information of the area where each historical target is located at the corresponding moment of the current frame image, by a non-linear filtering method.

In some embodiments, the predicting the position information of an area where each historical target is located at the corresponding moment of the current frame image comprises: predicting the position information of the area where each historical target is located at the corresponding moment of the current frame image, with center point coordinates, aspect ratio and height of the area where each historical target is located on one or more historical frame images, as well as a rate of change in the center point coordinates, a rate of change in the aspect ratio and a rate of change in the height as inputs of the non-linear filtering method.

In some embodiments, the processor is further configured to: extract a current feature vector of the area where the current target is located on the current frame image; obtain a historical feature vector of the area where each historical target is located on one or more historical frame images; and determine a feature difference between the current target and the each historical target, based on the current feature vector and each historical feature vector; wherein the determining a historical target that is the same target as the current target comprises: determine the historical target that is the same target as the current target, based on the feature difference and the position difference.

In some embodiments, the tracking the current target comprises: updating a historical trajectory where the historical target is located, based on the current position information, and forming a tracking trajectory of the current target.

In some embodiments, the forming a tracking trajectory of the current target comprises: converting coordinates of each trajectory point in the historical trajectory updated in an image coordinate system into coordinates in a world coordinate system, and determining the tracking trajectory.

According to still other embodiments of the present disclosure, a target tracking device is provided. The target tracking device comprises: a memory; and a processor coupled to the memory, wherein the processor is configured to perform the target tracking method according to any of the above-described embodiments based on instructions stored in the memory device.

According to yet other embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the target tracking method according to any of the above-described embodiments.

According to some embodiments of the present disclosure, a target tracking system is provided. The target tracking system comprises: the target tracking device according to any of the above-described embodiments.

In some embodiments, the target tracking system further comprises: one or more image sensors for obtaining a frame image containing a target.

In some embodiments, the target tracking system further comprises: a display device for displaying the tracking trajectory under a world coordinate system.

Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings.

