OBJECT TRACKING DEVICE

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Inventor(s)

OBJECT TRACKING DEVICE

This abstract first appeared for US patent application 19005635 titled 'OBJECT TRACKING DEVICE

Original Abstract Submitted

An object tracking device includes: an observation point extractor extracting, based on a state quantity of a target estimated during a previous cycle, an observation point obtained from the target during a current cycle, a prediction point generator generating, based on the state quantity of the target estimated during the previous cycle, a prediction point at a predicted position at which the observation point is expected, an aligner bringing the observation point obtained from the target during the current cycle and the prediction point generated by the prediction point generator into alignment by scan matching, and a residual calculator obtaining a correspondence point of the target at the predicted position corresponding to the observation point from the prediction point brought into alignment with the observation point obtained during the current cycle and calculating a residual between the observation point and the correspondence point.