JP2019185615A - Device, method and program for managing flow line - Google Patents

Abstract

Kind Code: A1 A traffic line management apparatus, method, and program that can integrate tracking results so as not to include tracking results corresponding to different objects. Kind Code: A1 A flow line management device includes one or more first flow lines indicating the position at each time of the same object based on a plurality of first images captured by a first imaging device, and a second imaging device. A plurality of second flow lines based on a plurality of captured second images, and one or more pieces of tracking connection information indicating the identity of the first and second flow lines, corresponding to the same object By determining whether or not there is a plurality of flow lines, which are a plurality of flow lines, the corresponding imaging devices and the corresponding times overlap in one connection graph generated as And a contradiction determining unit 323 that determines whether or not the first flow line, the second flow line, and the tracking connection information that do not cause a contradiction are determined from the connection graph. A conflict resolution unit 324 that generates a connected graph including Provided. [Selection diagram] FIG.

Description

  The present invention relates to a flow line management apparatus, a flow line management method, and a flow line management program.

  Conventionally, in generating a flow line indicating a movement trajectory of an object in a predetermined area, the object is tracked based on a plurality of images acquired from a plurality of imaging devices (see, for example, Patent Document 1). .

Japanese Patent Laid-Open No. 2006-139949

  When generating a flow line of an object based on a plurality of imaging devices, the same object among the tracking results of the objects specified for each imaging device based on the determination result of the same object between the plurality of imaging devices The tracking results corresponding to are integrated.

  If the determination result of the same object among a plurality of imaging devices includes an erroneous determination, tracking results of different objects are integrated as tracking results corresponding to the same object, resulting in a contradiction in the integration results. .

  Therefore, the present invention has been made in view of these points, and a flow line management device, a flow line management method, and a flow line management capable of integrating tracking results so as not to include tracking results corresponding to different objects. The purpose is to provide a program.

  The flow line management device according to the first aspect of the present invention shows a tracking result of each of a plurality of objects based on a plurality of first images imaged by a first imaging device that images a predetermined area. One or more first flow lines indicating positions at each time and tracking results of a plurality of objects based on a plurality of second images picked up by a second image pickup device that picks up the predetermined area are shown. Including a plurality of second flow lines indicating positions at each time and one or more tracking connection information indicating the identity of the first flow line and the second flow line, and corresponding to the same object By determining whether or not there are a plurality of flow lines that are a plurality of flow lines that overlap with the corresponding imaging device and corresponding time in the generated one connected graph, the first flow line and When the contradiction determination unit for determining whether or not there is a contradiction between the second flow line and the tracking connection information, and when the contradiction determination unit determines that the contradiction has occurred, A contradiction resolution unit that generates a connected graph including the first flow line, the second flow line, and the tracking connection information, in which no contradiction occurs.

  The contradiction elimination unit may generate one or more connected graphs in which the contradiction does not occur by erasing one or more tracking connection information and dividing the one connected graph into a plurality of connected graphs. Good.

  The tracking connection information includes tracking connection strength information indicating the strength of identity between the first flow line and the second flow line, and the contradiction resolution unit includes the tracking connection information in ascending order of the strength of identity. May be deleted.

  The tracking connection information indicates the strength of the tracking connection that is calculated based on the result of identity determination between the object indicated by the first flow line and the object indicated by the second flow line at each time. Information may be included.

  The contradiction resolution unit deletes the one trace connection information from the connected graph in which the contradiction has occurred, whereby the connected graph in which the inconsistency has occurred is converted into a first connected graph and a second connected graph. The contradiction determination unit may determine whether or not the contradiction occurs in the connected graph for each of the first connected graph and the second connected graph.

  When the contradiction determination unit determines that the contradiction occurs in the connected graph after the division, the number of the tracking connection information included in the connected graph after the division is greater than a predetermined number. If there are too many, the connected graph after the division may be divided into the first connected graph and the second connected graph.

  The contradiction resolution unit erases the tracking connection information based on a pattern in which at least a part of the connected graph after the division does not cause the contradiction among the plurality of patterns for erasing the tracking connection information. Also good.

  The contradiction determination unit generates the contradiction in at least some of the connected graphs after the division in order from a pattern with a small number of the tracking connection information to be deleted among a plurality of patterns for deleting the tracking connection information. It may be determined whether or not a pattern is included.

  The contradiction determination unit determines that the contradiction is not found when a pattern that does not cause the contradiction is found in at least a part of the connected graph after the division until the number of the tracking connection information to be deleted exceeds a predetermined number. It may be controlled not to determine whether or not a pattern that does not occur is included.

  The contradiction resolution unit, based on a pattern having a relatively small number of erasures of the tracking connection information among the patterns in which the contradiction does not occur in at least some of the connected graphs after the division, the tracking connection information May be deleted.

  The tracking connection information includes tracking connection strength information indicating strength of identity between the first flow line and the second flow line, and the contradiction resolution unit includes at least a part of the connection graph after division. If there is a plurality of patterns with the same number of erasures of the tracking connection information, the pattern of erasing the tracking connection information having a relatively low strength of identity among the plurality of patterns. The tracking connection information may be erased based on

  When the contradiction resolution unit does not cause the contradiction in at least some of the connected graphs after the division, and there are multiple patterns with the same number of erasures of the tracking connection information, among the plurality of patterns, The tracking connection information may be deleted based on a pattern having a relatively large number of connected graphs that can be resolved after the division.

  When the contradiction resolution unit does not cause the contradiction in at least some of the connected graphs after the division, and there are multiple patterns with the same number of erasures of the tracking connection information, among the plurality of patterns, The tracking connection information may be erased based on a pattern in which the number of the tracking connection information included in the connected graph that can resolve the contradiction after the division is relatively large.

  The contradiction resolution unit erases all the tracking connection information corresponding to the connected graph in which the contradiction occurs in the divided connected graph, and the one or more first flow lines and the one or more first graphs are deleted. In the case where one or more tracking connection information is revived by dividing into two flow lines, if the contradiction does not occur in the connected graph corresponding to the tracking connection information, the one or more tracking connection information may be revived. Good.

  The tracking connection information includes tracking connection strength information indicating the strength of identity between the first flow line and the second flow line, and the contradiction resolution unit includes the tracking connection information in descending order of the strength of identity. May be revived.

  The connection graph includes position information indicating a position of the predetermined area at each time of an object corresponding to each of the one or more first flow lines, and each of the objects corresponding to each of the one or more second flow lines. Position information indicating a position of the predetermined area at a time, and the flow line management device includes position information corresponding to the first flow line included in the connected graph in which the contradiction does not occur, and the connected graph. And a flow line generating unit that generates flow line information indicating one flow line associated with one position at each time based on the position information corresponding to the second flow line.

  The flow line generation unit includes a first confidence value related to the position of the object at each time corresponding to the first flow line, and a second reliability related to the position of the object at each time corresponding to the second flow line. Based on the value, one flow line information in which one position is associated with each time may be generated from the first flow line and the second flow line.

  The imaging device is an imaging device that captures an omnidirectional image, and the flow line generation unit calculates a distance between a position on the captured image at each time of an object corresponding to the flow line and a center position of the captured image. The reliability value at the time may be calculated.

  The flow line generation unit includes the first reliability value related to the position information of the first flow line and the second reliability value related to the position information of the second flow line corresponding to the same time. The flow line information including the position information corresponding to a relatively high confidence value as the position information at the time may be generated by comparison.

  When the distance between the position at the first time and the position at the second time continuous to the first time in the connected graph in which the contradiction does not occur is greater than or equal to a predetermined distance, The connected graph in which the contradiction does not occur may be divided on the basis of the first time.

  The flow line management method according to the second aspect of the present invention shows a tracking result of each of a plurality of objects based on a plurality of first images captured by a first imaging device that captures a predetermined area, which is executed by a computer. The tracking results of each of a plurality of objects based on one or more first flow lines indicating the positions of the same object at each time and a plurality of second images captured by a second imaging device that captures the predetermined area. A plurality of second flow lines indicating the position of the same object at each time, and one or more tracking connection information indicating the identity of the first flow line and the second flow line, and the same object It is determined whether or not there is a plurality of flow lines that are a plurality of flow lines that overlap with corresponding imaging devices and corresponding times in one connected graph generated as corresponding to By determining whether or not there is a contradiction between the first flow line, the second flow line and the tracking connection information, and when determining that the contradiction occurs, from the connection graph, Generating a connected graph including the first flow line, the second flow line, and the tracking connection information that does not cause the contradiction.

  The flow line management program according to the third aspect of the present invention shows a tracking result of each of a plurality of objects based on a plurality of first images captured by a first imaging device that images a predetermined area on a computer, and is identical. A tracking result of each of a plurality of objects based on one or more first flow lines indicating the position of each object at each time and a plurality of second images captured by a second imaging device that images the predetermined area; Corresponding to the same object, including a plurality of second flow lines indicating the position of the same object at each time, and one or more tracking connection information indicating the identity of the first flow line and the second flow line Determining whether or not there is a plurality of flow lines that are a plurality of flow lines that overlap with corresponding imaging devices and corresponding times in one connected graph generated as Thus, it is determined that the contradiction occurs by the contradiction determination unit that determines whether or not there is a contradiction between the first flow line, the second flow line, and the tracking connection information, and the contradiction determination unit. Then, it is made to function as a contradiction elimination part which produces | generates the connection graph containing the said 1st flow line, the said 2nd flow line, and the said tracking connection information from which the said contradiction does not arise from the said connection graph.

  According to the present invention, it is possible to integrate tracking results so as not to include tracking results corresponding to different objects.

It is a figure which shows the structure of the object tracking system which concerns on this embodiment. It is a figure which shows the installation position and imaging range of the 1st imaging device and 2nd imaging device which concern on this embodiment. It is a figure which shows an example of the connection graph which concerns on this embodiment. It is a figure which shows the example which simplified the connection graph shown in FIG. It is a figure which shows the structure of the flow line management apparatus which concerns on this embodiment. It is a flowchart which shows the flow of a process in the flow line management apparatus which concerns on this embodiment. It is a figure which shows the example by which a connection graph is divided | segmented by the 1st division | segmentation process which concerns on this embodiment. It is a flowchart which shows the flow of the process corresponding to a 1st division | segmentation process. It is a flowchart which shows the flow of the process corresponding to a 2nd division | segmentation process. It is a flowchart which shows the flow of the process corresponding to a 3rd division | segmentation process. It is a flowchart which shows the flow of the process corresponding to a flow line production | generation process. It is a figure explaining the example by which a connection graph is divided | segmented by a flow line production | generation process.

[Outline of Object Tracking System S]
FIG. 1 is a diagram showing a configuration of an object tracking system S according to the present embodiment. The object tracking system S includes a first imaging device 1A, a second imaging device 1B, an object tracking device 2, and a flow line management device 3.

  The first imaging device 1A and the second imaging device 1B are imaging devices that generate a moving image by imaging a predetermined area. Here, the predetermined area is, for example, a store floor. In the predetermined area, there are persons such as customers and shop assistants as objects whose positions are to be tracked in the object tracking system S. The first imaging device 1A generates a moving image including a plurality of first images by capturing an omnidirectional image including at least a part of a predetermined area. The second imaging device 1B generates a moving image including a plurality of second images by capturing an omnidirectional image including at least a part of the predetermined area. Assume that each of the plurality of first images and the plurality of second images is associated with the imaging time at which the images were captured.

  Here, it is assumed that the range that can be imaged by the first imaging device 1A and the range that can be imaged by the second imaging device 1B overlap at least partially. FIG. 2 is a diagram illustrating an installation position and an imaging range of the first imaging device 1A and the second imaging device 1B according to the present embodiment. As shown in FIG. 2, in the predetermined area A, a first imaging device 1A and a second imaging device 1B are installed. In addition, FIG. 2 shows an imaging range R1 of the first imaging device 1A and an imaging range R2 of the second imaging device 1B. As shown in FIG. 2, it can be confirmed that the imaging range R1 and the imaging range R2 partially overlap. In the present embodiment, each of the first imaging device 1A and the second imaging device 1B captures an omnidirectional image. However, the present invention is not limited to this, and an image that is not an omnidirectional image may be captured. .

  The object tracking device 2 acquires a moving image including a plurality of first images from the first imaging device 1A, and acquires a moving image including a plurality of second images from the second imaging device 1B. The object tracking device 2 generates one or more first flow lines indicating the tracking results of the plurality of objects based on the plurality of first images. The object tracking device 2 generates one or more second flow lines indicating the tracking results of the plurality of objects based on the plurality of second images. The object tracking device 2 generates one or more tracking connection information indicating the identity between the object indicated by the first flow line and the object indicated by the second flow line.

  Here, one first flow line is indicated by first flow line information in which position information indicating the position of the same object is associated with each of a plurality of times. One second flow line is indicated by second flow line information in which position information indicating the position of the same object is associated with each of a plurality of times. Each of the first flow line information and the second flow line information includes flow line identification information for identifying a flow line.

  The flow line management device 3 acquires one or more first flow line information, one or more second flow line information, and one or more tracking connection information from the object tracking device 2. The flow line management device 3 includes one or more first flow line information, one or more second flow line information, and one or more tracking connection information, and generates a connection graph corresponding to the same object. Here, the connection graph may be composed of only one first flow line information or one second flow line information. FIG. 3 is a diagram illustrating an example of a connection graph according to the present embodiment. The connection graph shown in FIG. 3 includes three first flow lines LA1 to LA3 and two second flow lines LB1 and LB2.

  As shown in FIG. 3, the flow line includes a plurality of pieces of position information P indicating the position of the object at each time. In addition, the identity of the object is determined at each time for the first flow line and the second flow line. The connection line L shown in FIG. 3 indicates that the first flow line and the second flow line are the same at a certain time. For example, in FIG. 3, it can be confirmed that the first flow line LA1 and the second flow line LB1 are connected by three connection lines L and are determined to be the same at three times.

  FIG. 4 is a diagram showing an example in which the connection graph shown in FIG. 3 is simplified. In the connection graph shown in FIG. 4, it can be confirmed that the first flow line and the second flow line are connected by the tracking connection information C (C1 to C4).

  By the way, if there is an error in determining the identity between the object indicated by the first flow line and the object indicated by the second flow line included in the connection graph, the connection graph includes a flow line of a different object. As a result, a contradiction occurs in the connected graph. In the example shown in FIG. 3, the first flow line LA1 and the first flow line LA2 are connected through the second flow line LB1, which means that they indicate the same object. However, the first flow line LA1 and the first flow line LA2 are generated by images captured by the same imaging device, and some times overlap. Therefore, a contradiction arises in that two identical objects exist at the same time in images taken by the same imaging device. Therefore, the first flow line LA1 and the first flow line LA2 shown in FIG. 3 correspond to different objects, and the connected graph shown in FIG. 3 has a contradiction caused by incorrect tracking connection information.

  On the other hand, the flow line management device 3 in this embodiment determines whether or not there is a contradiction in the generated connected graph. When determining that there is a contradiction in the connection graph, the flow line management device 3 generates a connection graph including the first flow line, the second flow line, and the tracking connection information from which no contradiction occurs from the connection graph. By doing in this way, the flow line management apparatus 3 can integrate tracking results so as not to include tracking results corresponding to different objects.

[Configuration of the flow line management device 3]
Next, the configuration of the flow line management device 3 will be described. FIG. 5 is a diagram illustrating a configuration of the flow line management device 3 according to the present embodiment. As shown in FIG. 5, the flow line management device 3 includes a storage unit 31 and a control unit 32.

  The storage unit 31 is a storage medium including a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 31 stores a program executed by the control unit 32. For example, the storage unit 31 stores a flow line management program that causes the flow line management device 3 to function as the acquisition unit 321, the generation unit 322, the contradiction determination unit 323, the contradiction resolution unit 324, and the flow line generation unit 325. .

  The control unit 32 is, for example, a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The control unit 32 functions as an acquisition unit 321, a generation unit 322, a contradiction determination unit 323, a contradiction resolution unit 324, and a flow line generation unit 325 by executing the flow line management program stored in the storage unit 31.

The acquisition unit 321 acquires one or more first flow lines, one or more second flow lines, and one or more tracking connection information from the object tracking device 2.
The generation unit 322 generates one or more connected graphs based on the one or more first flow lines, the one or more second flow lines, and the one or more tracking connection information acquired by the acquisition unit 321.

  The contradiction determination unit 323 determines whether there are a plurality of flow lines that are a plurality of flow lines that overlap with corresponding imaging devices and corresponding times in one connected graph generated as corresponding to the same object. By determining whether or not there is a contradiction in the first flow line, the second flow line, and the tracking connection information included in the connection graph, it is determined.

  When the contradiction determination unit 323 determines that there is a contradiction in the connected graph, the contradiction resolution unit 324 includes the first flow line, the second flow line, and the tracking connection information from which no contradiction occurs. Inconsistency is resolved by generating a connected graph. The contradiction resolution unit 324 deletes one or more pieces of tracking connection information from a plurality of pieces of tracking connection information included in one connected graph, and divides the one connected graph into a plurality of connected graphs, thereby providing a contradiction. Generate one or more connected graphs where no.

  Based on the position information corresponding to the first flow line included in the connected graph and the position information corresponding to the second flow line included in the connected graph, the flow line generating unit 325 generates each time The flow line information indicating one flow line associated with one position is generated.

[Flow of processing in flow line management device 3]
Hereinafter, the details of the acquisition unit 321, the generation unit 322, the contradiction determination unit 323, the contradiction resolution unit 324, and the flow line generation unit 325 will be described with reference to FIG. 6 showing the flow of processing in the flow line management device 3. FIG. 6 is a flowchart showing the flow of processing in the flow line management device 3 according to this embodiment.

  First, the acquisition unit 321 acquires one or more first flow lines, one or more second flow lines, and one or more tracking connection information from the object tracking device 2 (S1). Here, the tracking connection information includes the flow line identification information for identifying each of the first flow line and the second flow line to be connected, and one or more times determined to be the same. . The tracking connection information includes tracking connection strength information indicating the strength of identity between the object corresponding to the first flow line to be connected and the object corresponding to the second flow line.

  The strength of identity may be calculated based on the result of identity determination between the object indicated by the first flow line and the object indicated by the second flow line at each time. The strength of identity is calculated so as to increase as the number of times determined to be the same. For example, the first flow line LA1 and the second flow line LB1 shown in FIG. 3 are determined to have the same object at three times, and the first flow line LA2 and the second flow line LB1 are two times. It is determined that the objects are the same. In this case, the strength of identity corresponding to the first flow line LA1 and the second flow line LB1 is higher than the strength of identity corresponding to the first flow line LA2 and the second flow line LB1.

  The strength of identity may be calculated based on the distance between the position of the object indicated by the first flow line and the position of the object indicated by the second flow line at each time. The strength of identity may be calculated based on the feature amount of the object image indicated by the first flow line and the feature amount of the object image indicated by the second flow line at each time.

  Subsequently, the generation unit 322 generates one or more connected graphs based on the one or more first flow lines, the one or more second flow lines, and the one or more tracking connection information acquired by the acquisition unit 321 (S2). ). For example, the generation unit 322 selects one flow line and specifies tracking connection information corresponding to the flow line. And the production | generation part 322 specifies the other flow line connected to the said flow line based on the identified tracking connection information. The generation unit 322 also specifies the tracking connection information and other connected flow lines for the specified other flow lines. The generation unit 322 generates a connected graph indicating the same object by repeating the tracking connection information and the specification of other connected flow lines for the newly specified other flow lines. In the present embodiment, the generation unit 322 generates a connected graph. However, the present invention is not limited to this, and the object tracking device 2 may generate a connected graph. Then, the flow line management device 3 may acquire a combination of the first flow line, the second flow line, and the tracking connection information indicating the connection graph from the object tracking device 2.

[First division processing]
Subsequently, the contradiction determination unit 323 and the contradiction resolution unit 324 execute a first division process of dividing the connected graph generated in S2 as necessary (S3).

  FIG. 7 is a diagram illustrating an example in which a connected graph is divided by the first division processing according to the present embodiment. In the first division process, the contradiction determination unit 323 and the contradiction resolution unit 324 divide the connected graph by deleting one trace connection information from the connected graph when the connected graph has a contradiction. Then, the contradiction determination unit 323 and the contradiction resolution unit 324 determine whether or not there is a contradiction also in the connected graph after the division. If there is a contradiction, one tracking is performed from the connected graph after the division. The connected graph after the division is further divided by deleting the connection information.

  In the example shown in FIG. 7, when there is a contradiction in the connected graph G1 having 120 pieces of tracking connection information, the contradiction determination unit 323 and the contradiction resolution unit 324 delete one piece of tracking connection information from the connected graph G1. The connection graph G2 including 50 pieces of tracking connection information and the connection graph G3 including 69 pieces of tracking connection information are divided. Then, the contradiction determination unit 323 and the contradiction resolution unit 324 delete one tracking connection information from the connection graph G2 when the connection graph G2 is inconsistent, and a connection graph G4 including 30 pieces of tracking connection information, and the tracking connection It is divided into a connected graph G5 containing 19 pieces of information. Similarly, the contradiction determination unit 323 and the contradiction resolution unit 324 divide the connected graph G4 into a connected graph G6 and a connected graph G7, and divide the connected graph G7 into a connected graph G8 and a connected graph G9. If there is a contradiction in the connected graph after the division, and the number of pieces of tracking connection information included in the connected graph is a predetermined number (for example, 10) or less, the connected graph will be described later. A second division process is performed. In the example illustrated in FIG. 7, the second division process is performed on the connected graph G6 and the connected graph G8.

  The functions of the contradiction determination unit 323 and the contradiction resolution unit 324 in the first division process will be described below with reference to the processing flow in the first division process. FIG. 8 is a flowchart showing a flow of processing corresponding to the first division processing.

First, the contradiction determining unit 323 selects one connected graph among the plurality of connected graphs generated by the generating unit 322 (S31).
Subsequently, the contradiction determination unit 323 determines whether there is a contradiction in one selected connected graph (S32). Specifically, the contradiction determination unit 323 determines whether or not there is a plurality of flow lines in the selected connected graph that are a plurality of flow lines that overlap with the corresponding imaging device and corresponding time. By doing so, it is determined whether or not there is a contradiction between the first flow line, the second flow line, and the tracking connection information included in the connection graph. If the contradiction determining unit 323 determines that a contradiction has occurred, the process proceeds to S33, and if it determines that no contradiction has occurred, the process proceeds to S35.

  In S33, the contradiction resolution unit 324 determines whether or not the number of pieces of tracking connection information included in one selected connected graph is greater than a predetermined number. If the contradiction resolution unit 324 determines that the number of pieces of tracking connection information is greater than the predetermined number, the process proceeds to S34. If the contradiction resolution unit 324 determines that the number of pieces of tracking connection information is equal to or less than the predetermined number, the process proceeds to S35 without dividing the connected graph in which the contradiction occurs.

  In S <b> 34, the contradiction resolution unit 324 divides the connected graph into the first connected graph and the second connected graph by deleting one trace connection information from the connected graph in which the contradiction occurs. Here, the tracking connection information includes tracking connection strength information indicating the strength of identity between the first flow line and the second flow line. The contradiction resolution unit 324 refers to the tracking connection strength information included in each of the one or more tracking connection information included in the connection graph, and is the same among the plurality of tracking connection information included in the connection graph. The tracking connection information is deleted in descending order of strength. By doing in this way, the flow line management apparatus 3 can raise the probability that there is no contradiction in the connected graph generated by deleting the tracking connection information.

  In S35, the contradiction determination unit 323 determines whether there is an unselected connected graph. Here, it is assumed that the unselected connected graph includes the first connected graph and the second connected graph divided from one connected graph in S34. If the contradiction determining unit 323 determines that there is an unselected connected graph, the process proceeds to S31. If the contradiction determining unit 323 determines that there is no unselected connected graph, the first division processing illustrated in the flowchart ends.

  As described above, since the unselected connected graph includes the first connected graph and the second connected graph divided from one connected graph, the first connected graph, the second connected graph, The connected graph is selected once in the process of S31 executed a plurality of times. Thereby, the contradiction determination part 323 determines whether there is a contradiction in the connected graph for each of the first connected graph and the second connected graph.

  When the contradiction determination unit 323 determines that there is a contradiction in S32 for the connected graph after division, the conflict resolution unit 324 determines the number of pieces of tracking connection information included in the connected graph after division in S33. Is divided into the first connected graph and the second connected graph on the condition that it is determined that there is more than the predetermined number.

  Thereby, when the number of pieces of tracking connection information included in the divided connected graph is a predetermined number or more, the division of the connected graph by the contradiction resolution unit 324 and the conflict determination after the division by the conflict determination unit 323 are repeated. It is. By doing in this way, the flow line management apparatus 3 can raise the probability that the connection graph without the contradiction will be produced | generated from the connection graph with which the contradiction has arisen.

[Second division processing]
Returning to FIG. Subsequently, the contradiction determination unit 323 and the contradiction resolution unit 324 execute a second division process of dividing the connected graph that still has a contradiction at the end of S3 into a connected graph that does not cause a contradiction (S4).

  Specifically, the contradiction determination unit 323 sequentially selects the connected graphs after the division from the plurality of patterns for erasing the tracking connection information from the connected graph in which the contradiction occurs, in order from the pattern with the smallest number of tracking connection information to be deleted. It is determined whether or not at least a part of the connected graph includes a pattern that does not cause a contradiction.

  Then, the contradiction elimination unit 324 erases the tracking connection information based on a pattern in which at least some of the connected graphs in the divided connected graph do not cause a contradiction among the plurality of patterns for deleting the tracking connection information. The contradiction resolution unit 324 generates a pattern having a relatively small number of erased tracking connection information (for example, a pattern having the smallest number of erased) among the patterns in which at least some of the connected graphs after the division do not cause a contradiction. Based on this, the tracking connection information is deleted. By doing in this way, the flow line management apparatus 3 can produce | generate the connection graph which does not produce contradiction more reliably than the 1st division | segmentation process.

  Hereinafter, details of the flow of processing corresponding to the second division processing will be described. FIG. 9 is a flowchart showing a flow of processing corresponding to the second division processing.

First, the contradiction determination unit 323 selects one connected graph in which a contradiction has occurred (S41).
Subsequently, the contradiction determination unit 323 sets the value of N, which is the number of tracking connection information to be deleted in the selected connected graph, to 1 (S42).

  Subsequently, the contradiction determination unit 323 specifies an erasure pattern for erasing N pieces of tracking connection information in the selected connected graph (S43). For example, in the example shown in FIG. 4, when N is 1, the erasing pattern is a pattern for erasing the tracking connection information C1, a pattern for erasing the tracking connection information C2, a pattern for erasing the tracking connection information C3, and the tracking connection information. These are four patterns for erasing C4.

  Subsequently, the contradiction determination unit 323 determines whether or not there is an erasure pattern that does not cause a contradiction in the connected graph as a result of erasing the tracking connection information based on the identified erasure pattern (S44). If the contradiction determination unit 323 determines that there is an erase pattern that does not cause a contradiction, the process proceeds to S45.

  In S45, the contradiction resolution unit 324 erases the tracking connection information from one selected connected graph based on an erase pattern that does not cause a contradiction. Here, the contradiction elimination unit 324 does not cause any contradiction in at least some of the connected graphs after being divided from one selected connected graph, and there are a plurality of patterns with the same number of tracking connection information deletions. In this case, the tracking connection information is deleted based on the pattern for deleting the tracking connection information having a relatively low identity strength among the plurality of patterns. By doing in this way, the flow line management apparatus 3 can isolate | separate the flow line corresponding to the object with high possibility that it is not the same as the object corresponding to the said connection graph from a connection graph.

  Also, the contradiction determination unit 323 divides by deleting the tracking connection information when there is no contradiction in at least some of the connected graphs after the division and there are multiple patterns with the same number of deletions of the tracking connection information. It may be determined whether or not there is a contradiction for each of the plurality of connected graphs after being processed. Then, the contradiction resolution unit 324 may delete the tracking connection information based on a pattern having a relatively large number of connected graphs that can be resolved after the division among the plurality of patterns. By doing in this way, the flow line management apparatus 3 can generate | occur | produce efficiently the connection graph from which the contradiction was eliminated.

Note that the contradiction resolution unit 324 does not cause any contradiction in at least some of the connected graphs after the division, and if there are a plurality of patterns with the same number of erased tracking connection information, The tracking connection information is deleted based on a pattern having a relatively large number, but the present invention is not limited to this. The contradiction resolution unit 324 determines the tracking connection information based on a pattern having a relatively large number of tracking connection information included in the connected graph that can eliminate the contradiction after the division among a plurality of patterns having the same number of erased tracking connection information. It may be deleted. By doing so, the flow line management device 3 can preferentially generate a large-scale connected graph.
When the process of S45 ends, the contradiction resolution unit 324 moves the process to S48.

  If the contradiction determining unit 323 determines in S44 that there is no erase pattern that does not cause a contradiction, the process proceeds to S46, and 1 is added to N. This increases the number of tracking connection information to be deleted.

  Here, when the number of pieces of tracking connection information included in the connected graph is large, there is a problem that the erase pattern increases remarkably as N increases and the processing load increases. Therefore, the contradiction determining unit 323 determines that there is no contradiction when a pattern that does not cause a contradiction is found in at least some of the connected graphs after the division until the number of trace connection information to be deleted exceeds a predetermined number. Control is performed so as not to determine whether or not a pattern that does not occur is included.

  Specifically, the contradiction determination unit 323 determines whether or not N exceeds a predetermined number in S47. If the contradiction determining unit 323 determines that N exceeds a predetermined number, the contradiction determining unit 323 does not newly determine whether or not a pattern that does not cause contradiction is included in the selected connected graph, and the process proceeds to S48. If the contradiction determining unit 323 determines that N does not exceed the predetermined number, the process proceeds to S43 and continues to determine whether or not a pattern that does not cause a contradiction is included. In this way, the flow line management device 3 can reduce the processing load.

  Subsequently, the contradiction determination unit 323 determines whether there is a connected graph in which an unselected contradiction occurs (S48). If the contradiction determining unit 323 determines that there is a connected graph in which an unselected contradiction has occurred, the process moves to S41, and if it is determined that there is no connected graph in which an unselected contradiction occurs, the first flowchart shown in this flowchart is displayed. The two-division process is terminated.

[Third division processing]
Returning to FIG. Subsequently, the contradiction determination unit 323 and the contradiction resolution unit 324 execute a third division process of dividing the connected graph that still has a conflict at the end of S4 into a connected graph that does not cause a conflict (S4).

  Specifically, the contradiction resolution unit 324 deletes all the tracking connection information corresponding to the connected graph in which the contradiction occurs in the connected graph after the division, and the one or more first flow lines and the one or more ones. Divide into second flow lines. The contradiction resolution unit 324 restores the one or more pieces of tracking connection information when there is no contradiction in the connected graph corresponding to the trace connection information when the deleted one or more pieces of trace connection information are restored. By doing in this way, the flow line management apparatus 3 can produce | generate the connection graph which does not produce a contradiction more reliably than a 2nd division | segmentation process.

  Hereinafter, details of a flow of processing corresponding to the third division processing will be described. FIG. 10 is a flowchart illustrating a process flow corresponding to the third division process.

First, the contradiction determination unit 323 selects one connected graph in which a contradiction has occurred (S51).
Subsequently, the contradiction resolution unit 324 deletes all the trace connection information included in the selected connected graph (S52). Thereby, the connection graph is divided into one or more first flow lines and one or more second flow lines.

  Subsequently, the contradiction resolution unit 324 selects one trace connection information from the erased trace connection information (S53). Here, the contradiction resolution unit 324 rearranges the deleted tracking connection information in descending order of the strength of identity. Then, the contradiction resolution unit 324 selects the tracking connection information with high strength of identity among the deleted tracking connection information.

  Subsequently, the contradiction determination unit 323 determines whether or not there is a contradiction in the connected graph corresponding to the tracking connection information when the connected connection graph is generated by restoring the tracking connection information selected in S53 ( S54). Here, if the connected graph is already generated by reviving other tracking connection information, the contradiction determining unit 323 is included in the connected graph by reviving the tracking connection information selected in S53. Increase tracking connection information and flow lines. If the contradiction determining unit 323 determines that no contradiction occurs, the process proceeds to S55. If the contradiction determining unit 323 determines that a contradiction occurs, the process proceeds to S56.

  In S55, the contradiction resolution unit 324 restores the selected tracking connection information and generates a connected graph. Since the contradiction resolution unit 324 selects the tracking connection information in descending order of the identity strength in S53, the tracking connection information is restored in S55 in descending order of the identity strength. By doing in this way, the flow line management apparatus 3 can produce | generate a connection graph by connecting in order from the flow line with high possibility of being the same object. When the process of S55 is completed, the contradiction resolution unit 324 moves the process to S53.

  In S56, the contradiction determination unit 323 determines whether there is a connected graph in which an unselected contradiction occurs (S56). If the contradiction determining unit 323 determines that there is a connected graph in which an unselected contradiction has occurred, the process proceeds to S51, and if it is determined that there is no connected graph in which an unselected contradiction has occurred, The three-division process is terminated.

[Flow line generation processing]
Returning to FIG. Subsequently, the flow line generation unit 325 corresponds to the position information corresponding to the first flow line and the second flow line corresponding to the connected graph for the connected graph generated in S3 to S5 without any contradiction. Based on the position information, a flow line generation process for generating flow line information indicating one flow line in which one position information is associated with each of a plurality of times is executed (S6).

  Specifically, the flow line generation unit 325 includes a first confidence value related to position information of each first flow line included in one connected graph at each time and a second reliability value related to position information of each second flow line at each time. On the basis of the confidence value, one flow line information in which one position is associated with each time is generated from the first flow line and the second flow line. Here, the confidence value is a value indicating the probability of the position of the object indicated by the position information included in the flow line. The confidence value is a value determined based on, for example, the position of the object at each time of the flow line and the position of the imaging device. Note that the confidence value is not limited to a numerical value, and may be a symbol.

  The flow line generation unit 325 compares the first reliability value related to the position information of the first flow line and the second reliability value related to the position information of the second flow line corresponding to the same time, and relatively Flow line information including position information corresponding to a high confidence value as position information at the time is generated. By doing in this way, the flow line management apparatus 3 can integrate a plurality of flow lines included in the connection graph into one flow line. Further, the flow line management device 3 can generate flow line information including position information indicating a highly accurate position by generating flow line information based on the reliability value.

  The details of the flow of processing corresponding to the flow line generation processing will be described below. FIG. 11 is a flowchart showing a flow of processing corresponding to the flow line generation processing.

  First, the flow line generation unit 325 selects one connected graph (S601). The connection graph includes one or more first flow line information indicating one or more first flow lines, one or more second flow line information indicating one or more second flow lines, and tracking connection information. ing.

  Subsequently, the flow line generation unit 325 refers to the first flow line information and the second flow line information included in the selected connected graph, and among the times included in these flow line information, The oldest time is selected (S602).

  Subsequently, the flow line generation unit 325 specifies position information associated with the time in the flow line information including the selected time (S603). Here, the flow line generation unit 325 specifies one piece of position information when the selected time is included in one of the first flow line information and the second flow line information. In addition, when the selected time is included in both the first flow line information and the second flow line information, the flow line generation unit 325 specifies two pieces of position information.

  Subsequently, the flow line generation unit 325 determines whether two pieces of position information have been specified (S604). If the flow line generation unit 325 determines that the two pieces of position information have been specified, the process moves to S605. If the flow line generation unit 325 determines that the two pieces of position information have not been specified, the flow line generation unit 325 moves the process to S606.

  In step S <b> 605, the flow line generation unit 325 obtains position information having a high reliability value among position information corresponding to the first flow line information and position information corresponding to the second flow line information, which are two pieces of position information. Identify. Specifically, the flow line generation unit 325 first obtains a first reliability value related to position information corresponding to the first flow line information and a second reliability value related to position information corresponding to the first flow line information. calculate. For example, when the imaging device is an omnidirectional camera, the flow line generation unit 325 corresponds to the selected time, the position of the object corresponding to the flow line on the captured image captured by the imaging device, and the center of the captured image The reciprocal of the distance to the position is calculated as a confidence value at the time. Alternatively, the flow line generation unit 325 may calculate the area of the region corresponding to the object on the captured image as the reliability value. In addition, a machine learning or deep learning device may be provided separately, and the flow line generation unit 325 may calculate the detection score or identification score of the object as a confidence value using the machine learning or deep learning device. Then, the flow line generation unit 325 compares the calculated first reliability value with the calculated second reliability value, and specifies position information corresponding to a relatively high reliability value. By doing in this way, the flow line management apparatus 3 can produce | generate the flow line based on the positional information with a high specific precision of an object.

  Here, when the position indicated by the position information specified at the selected time and the position indicated by the position information specified immediately before the selected time are separated by a predetermined distance or more, the object is instantaneously more than the predetermined distance. It has moved. In this case, there is a high possibility that tracking of the object in the flow line fails and position information of a different object is included in the flow line.

  Therefore, the flow line generation unit 325 determines that the distance between the position at the selected time (first time) and the position at the time immediately before the selected time (second time continuous with the first time) is a predetermined distance. When it is above, the connected graph selected in S601 and having no contradiction is divided on the basis of the selected time (S606, S607).

  Specifically, the flow line generation unit 325 determines that the position indicated by the position information specified in S603 or S605 and the position indicated by the position information specified with respect to the time immediately before the time selected in S602 are a predetermined distance or more. It is determined whether or not they are separated (S606). If the flow line generation unit 325 determines that the distance is greater than or equal to the predetermined distance, the flow line generation unit 325 moves the process to S609.

  In S607, the flow line generation unit 325 generates flow line information including the selected time and the specified position information. When the flow line information has already been generated for the selected connected graph, the flow line generation unit 325 stores the selected time and the specified position information in the flow line information.

  In step S608, the flow line generation unit 325 determines whether all the times have been selected. If the flow line generation unit 325 determines that all the times have been selected, the process moves to S610. If the flow line generation unit 325 determines that all the times have not been selected, the flow line generation unit 325 moves the process to S602.

  When the determination in S606 is YES, the flow line generation unit 325 divides the connected graph based on the selected time in S609. As described above, the flow line management device 3 is selected in S601 based on the selected time when the distance between the position at the selected time and the position at the time immediately before the selected time is a predetermined distance or more. Split a connected graph.

  FIG. 12 is a diagram illustrating an example in which a connected graph is divided by a flow line generation process. In the example shown in FIG. 12, the connection graph includes a first flow line LA10 and a second flow line LA20. For each of the first flow line and the second flow line, the position information P indicating the position at each time indicates a symbol N or F indicating a reliability value. The symbol N indicates that the distance between the object position and the center position of the captured image is relatively short and the reliability value is high. The symbol F indicates that the distance between the position of the object and the center position of the captured image is relatively long and the reliability value is low.

  In the example shown in FIG. 12, the position information corresponding to the first flow line is specified from time t1 to t8, and the position information corresponding to the second flow line is specified at time t9. Here, in the second flow line, it is assumed that an erroneous determination of an object to be tracked occurs at time t5, and the tracked target is switched to an object different from that at time t4. In this case, if the position specified at time t9 and the position specified at time t8 are greater than or equal to a predetermined distance, the flow line generation unit 325 divides the connection graph shown in FIG. 12 at time t9. . Specifically, the flow line generation unit 325 corresponds to the connected graph corresponding to the times t1 to t8, the time corresponding to the times t9 to t15, the connected graph corresponding to the first flow line, and the times t9 to t15. At the same time, it is divided into three connected graphs with a connected graph corresponding to the second flow line. By doing in this way, the flow line management apparatus 3 can suppress that the positional information corresponding to a several object is contained in the generated flow line.

  Returning to FIG. In S610, the flow line generation unit 325 determines whether there is an unselected connected graph. Here, it is assumed that the unselected connected graph includes a connected graph corresponding to the time after the selected time divided in S609. For example, in the example shown in FIG. 12, a connection graph corresponding to the time t9 to t15 and corresponding to the first flow line and a connection graph corresponding to the time t9 to t15 and corresponding to the second flow line are included. And If the flow line generation unit 325 determines that there is an unselected connected graph, the flow line generation unit 325 moves the process to S601. If the flow line generation unit 325 determines that there is no unselected connected graph, the flow line generation unit 325 ends the flow line generation process illustrated in this flowchart.

[Effect in this embodiment]
As described above, the flow line management device 3 according to the present embodiment shows the identity of one or more first flow lines, a plurality of second flow lines, and the first flow lines and the second flow lines. Whether or not there is a plurality of flow lines that include a plurality of flow lines that overlap the corresponding imaging devices and corresponding times in one connected graph that includes the one or more tracking connection information and indicate the same object. It is determined whether or not there is a contradiction between the first flow line, the second flow line, and the tracking connection information. When the flow line management device 3 determines that a contradiction has occurred, the flow line management device 3 generates a connected graph including the first flow line, the second flow line, and the tracking connection information that do not cause a contradiction from the connected graph. By doing so, the flow line management device 3 integrates the first flow line, the second flow line, and the tracking connection information as the tracking result so as not to include the tracking results corresponding to different objects, and the connected graph Can be generated.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment.

  In the above embodiment, the flow line management device 3 executes the second division process after the execution of the first division process, and executes the third division process after the execution of the second division process. However, the present invention is not limited to this. For example, the flow line management device 3 executes only the second division processing, executes only the third division processing, or any two of the first division processing, the second division processing, and the third division processing. The processes may be executed in combination in this order.

  Moreover, in the said embodiment, the flow line management apparatus 3 is one or more 1st flow lines based on the some 1st image imaged by 1st imaging device 1A, and the some imaged by 2nd imaging device 1B. Based on one or more second flow lines based on the second image, a connection graph that does not contradict is generated, and on the basis of the connection graph, a flow line that associates one position information at each time is generated. Not limited to this. The flow line management device 3 generates a connection graph based on a plurality of flow lines based on a plurality of images respectively captured by three or more imaging devices, and one position information is obtained at each time based on the connection graph. An associated flow line may be generated.

  In this case, for example, the flow line management device 3 generates a connection graph in which no contradiction occurs based on one or more flow lines based on a plurality of images captured by each of the two imaging devices, and based on the connection graph Thus, a flow line in which one piece of position information is associated with each time is generated. Then, the flow line management device 3 generates a connected graph in which no contradiction occurs based on the generated flow line and a plurality of flow lines based on a plurality of images captured by the third imaging device, and the connection graph Based on the graph, a flow line in which one piece of position information is associated with each time is generated. By doing in this way, the flow line management device 3 corresponds to one object based on a plurality of flow lines based on a plurality of images respectively captured by three or more imaging devices, and one position at each time. A flow line associated with the information can be generated.

  In particular, the specific embodiments of the distribution / integration of the devices are not limited to those illustrated above, and all or a part thereof may be arbitrarily selected according to various additions or according to the functional load. It can be configured to be functionally or physically distributed and integrated in units.

  For example, in the above embodiment, the flow line management device 3 and the object tracking device 2 are different devices, but the present invention is not limited to this. The object tracking device 2 and the flow line management device 3 may be realized by a single device.

DESCRIPTION OF SYMBOLS 1A ... 1st imaging device, 1B ... 2nd imaging device, 2 ... Object tracking device, 3 ... Flow line management apparatus, 31 ... Memory | storage part, 32 ... Control part, 321 ..Acquisition unit, 322... Generation unit, 323... Contradiction determination unit, 324... Contradiction resolution unit, 325.

Claims (22)

One or more first flow lines indicating respective tracking results of a plurality of objects based on a plurality of first images imaged by a first imaging device that images a predetermined area, and indicating positions of the same object at each time; A plurality of second flow lines indicating the tracking results of a plurality of objects based on a plurality of second images imaged by the second imaging device that images the predetermined area, and indicating positions of the same object at each time; One connected graph including one or more tracking connection information indicating the identity of the first flow line and the second flow line and corresponding to the same object includes a plurality of flow lines. Thus, by determining whether or not there are a plurality of flow lines with overlapping corresponding imaging devices and corresponding times, there is a contradiction in the first flow line, the second flow line, and the tracking connection information. And determining contradiction judging unit whether Flip to have,
When the contradiction determination unit determines that the contradiction has occurred, a connection graph including the first flow line, the second flow line, and the tracking connection information is generated from the connection graph without the contradiction. A conflict resolution section to be generated,
A flow line management device comprising: The contradiction resolution unit deletes one or more of the tracking connection information and divides the one connected graph into a plurality of connected graphs, thereby generating one or more connected graphs in which the inconsistency does not occur.
The flow line management apparatus according to claim 1. The tracking connection information includes tracking connection strength information indicating the strength of identity between the first flow line and the second flow line,
The contradiction resolution unit deletes the tracking connection information in ascending order of the identity.
The flow line management apparatus according to claim 2. The tracking connection information indicates the strength of the tracking connection that is calculated based on the result of identity determination between the object indicated by the first flow line and the object indicated by the second flow line at each time. Including information,
The flow line management apparatus according to claim 3. The contradiction resolution unit deletes the one trace connection information from the connected graph in which the contradiction has occurred, whereby the connected graph in which the inconsistency has occurred is converted into a first connected graph and a second connected graph. Divided into
The contradiction determining unit determines whether or not the contradiction occurs in the connected graph for each of the first connected graph and the second connected graph.
The flow line management apparatus according to any one of claims 1 to 4. When the contradiction determination unit determines that the contradiction occurs in the connected graph after the division, the number of the tracking connection information included in the connected graph after the division is greater than a predetermined number. If there are too many, the connection graph after the division is divided into the first connection graph and the second connection graph.
The flow line management apparatus according to claim 5. The contradiction resolution unit erases the tracking connection information based on a pattern in which the contradiction does not occur in at least some of the connected graphs after the division among the plurality of patterns for erasing the tracking connection information.
The flow line management apparatus according to any one of claims 2 to 6. The contradiction determination unit generates the contradiction in at least some of the connected graphs after the division in order from a pattern with a small number of the tracking connection information to be deleted among a plurality of patterns for deleting the tracking connection information. Determine if there is no pattern,
The flow line management apparatus according to claim 7. The contradiction determination unit determines that the contradiction is not found when a pattern that does not cause the contradiction is found in at least a part of the connected graph after the division until the number of the tracking connection information to be deleted exceeds a predetermined number. Control not to determine whether a pattern that does not occur is included,
The flow line management apparatus according to claim 8. The contradiction resolution unit, based on a pattern having a relatively small number of erasures of the tracking connection information among the patterns in which the contradiction does not occur in at least some of the connected graphs after the division, the tracking connection information Erase
The flow line management apparatus according to any one of claims 7 to 9. The tracking connection information includes tracking connection strength information indicating the strength of identity between the first flow line and the second flow line,
When the contradiction resolution unit does not cause the contradiction in at least some of the connected graphs after the division, and there are multiple patterns with the same number of erasures of the tracking connection information, among the plurality of patterns, Erasing the tracking connection information based on a pattern of erasing the tracking connection information having a relatively low strength of identity;
The flow line management apparatus according to any one of claims 7 to 10. When the contradiction resolution unit does not cause the contradiction in at least some of the connected graphs after the division, and there are multiple patterns with the same number of erasures of the tracking connection information, among the plurality of patterns, Deleting the tracking connection information based on a pattern having a relatively large number of connected graphs in which inconsistencies can be resolved after division;
The flow line management apparatus according to any one of claims 7 to 11. When the contradiction resolution unit does not cause the contradiction in at least some of the connected graphs after the division, and there are multiple patterns with the same number of erasures of the tracking connection information, among the plurality of patterns, Deleting the tracking connection information based on a pattern in which the number of the tracking connection information included in the connected graph that can resolve the contradiction after the division is relatively large;
The flow line management apparatus according to any one of claims 7 to 11. The contradiction resolution unit erases all the tracking connection information corresponding to the connected graph in which the contradiction occurs in the divided connected graph, and the one or more first flow lines and the one or more first graphs are deleted. When dividing into two flow lines and restoring one or more tracking connection information, when the contradiction does not occur in the connected graph corresponding to the tracking connection information, the one or more tracking connection information is restored.
The flow line management apparatus according to any one of claims 2 to 13. The tracking connection information includes tracking connection strength information indicating the strength of identity between the first flow line and the second flow line,
The contradiction resolution unit restores the tracking connection information in descending order of the identity strength.
The flow line management apparatus according to claim 14. The connection graph includes position information indicating a position of the predetermined area at each time of an object corresponding to each of the one or more first flow lines, and each of the objects corresponding to each of the one or more second flow lines. Position information indicating the position of the predetermined area at time,
One position at each time based on position information corresponding to the first flow line included in the connected graph in which the contradiction does not occur and position information corresponding to the second flow line included in the connection graph. A flow line generation unit that generates flow line information indicating one flow line associated with
The flow line management apparatus according to any one of claims 1 to 15. The flow line generation unit includes a first confidence value related to the position of the object at each time corresponding to the first flow line, and a second reliability related to the position of the object at each time corresponding to the second flow line. Based on the value, from the first flow line and the second flow line, to generate one flow line information associated with one position at each time,
The flow line management apparatus according to claim 16. The imaging device is an imaging device that captures an omnidirectional image;
The flow line generation unit calculates a distance between the position on the captured image at each time of the object corresponding to the flow line and the center position of the captured image as the reliability value at the time.
The flow line management apparatus according to claim 17. The flow line generation unit includes the first reliability value related to the position information of the first flow line and the second reliability value related to the position information of the second flow line corresponding to the same time. Comparing and generating the flow line information including the position information corresponding to a relatively high confidence value as the position information at the time,
The flow line management apparatus according to claim 17 or 18. When the distance between the position at the first time and the position at the second time continuous to the first time in the connected graph in which the contradiction does not occur is greater than or equal to a predetermined distance, Dividing the connected graph in which the contradiction does not occur with respect to the first time,
The flow line management apparatus according to any one of claims 16 to 19. The computer runs,
One or more first flow lines indicating respective tracking results of a plurality of objects based on a plurality of first images imaged by a first imaging device that images a predetermined area, and indicating positions of the same object at each time; A plurality of second flow lines indicating the tracking results of a plurality of objects based on a plurality of second images imaged by the second imaging device that images the predetermined area, and indicating positions of the same object at each time; One connected graph including one or more tracking connection information indicating the identity of the first flow line and the second flow line and corresponding to the same object includes a plurality of flow lines. Thus, by determining whether or not there are a plurality of flow lines with overlapping corresponding imaging devices and corresponding times, there is a contradiction in the first flow line, the second flow line, and the tracking connection information. Determining whether Flip to have,
If it is determined that the contradiction has occurred, generating a connected graph including the first flow line, the second flow line, and the tracking connection information from which the contradiction does not occur, from the connected graph;
A flow line management method comprising: Computer
One or more first flow lines indicating respective tracking results of a plurality of objects based on a plurality of first images imaged by a first imaging device that images a predetermined area, and indicating positions of the same object at each time; A plurality of second flow lines indicating the tracking results of a plurality of objects based on a plurality of second images imaged by the second imaging device that images the predetermined area, and indicating positions of the same object at each time; One connected graph including one or more tracking connection information indicating the identity of the first flow line and the second flow line and corresponding to the same object includes a plurality of flow lines. Thus, by determining whether or not there are a plurality of flow lines with overlapping corresponding imaging devices and corresponding times, there is a contradiction in the first flow line, the second flow line, and the tracking connection information. Contradiction judging unit judges whether Flip with that, and,
When the contradiction determination unit determines that the contradiction has occurred, a connection graph including the first flow line, the second flow line, and the tracking connection information is generated from the connection graph without the contradiction. The conflict resolution section to generate,
Flow line management program to function as.

Images