KR20200035747A - Apparatus and method for tracking a target based on tracking image and distance information - Google Patents

Abstract

The present invention relates to a device for tracking a target based on a tracking image and distance information and a method thereof. The device for tracking the target based on the tracking image and distance information comprises: a tracking image generation part generating a tracking image for tracking a target; a laser pulse transmission and reception part receiving a laser pulse reflected from a target area and an area around the target by firing a laser pulse toward the target; a distance information collection part collecting distance information for the target area and the area around the target based on the received laser pulse; and a target tracking part tracking the target based on the generated tracking image and collected distance information, or retracking the target by reflecting the collected distance information only when the target tracking which only uses the tracking image fails.

Description

Apparatus and method for tracking target based on tracking image and distance information {APPARATUS AND METHOD FOR TRACKING A TARGET BASED ON TRACKING IMAGE AND DISTANCE INFORMATION}

The present invention relates to an apparatus and method for tracking a target based on the tracking image and distance information, and more specifically, based on the tracking image generated to track the target and the distance information collected from the laser pulse emitted toward the target. The present invention relates to an apparatus and method for tracking a target based on tracking image and distance information to track the target or retrace the target by reflecting the collected distance information only when the target tracking fails using only the tracking image.

A target tracking system based on an existing image detects and tracks a target after extracting feature descriptor information by using the shape, color, etc. of the target shown in the image or processing it.

The target tracking system based on the image has a problem in that the target tracking fails because the target and the background cannot be distinguished when the target has a similar color or pattern. In addition, there was a problem in that the target tracking failed because it was not possible to determine whether the target was the same as the target that was being tracked even when a strong change was made to the target or when the target was maneuvered and suddenly changed the shape appearing on the image. In addition, in the detection and tracking of anti-aircraft targets, it is difficult to extract the feature points that can know the physical distance between the anti-aircraft target and the background, and if the background and the target have similar characteristics, the target and the background cannot be distinguished and the target tracking fails. There was a problem.

In this regard, Korean Patent Publication No. 2016-0136145 discloses a "target image tracking device and method".

The present invention has been invented to solve the above problems, and based on the tracking image and the distance information tracking the target based on the tracking image generated to track the target and the distance information collected from the laser pulse emitted toward the target. The aim is to provide an apparatus and method for tracking a target.

In addition, the present invention provides an apparatus and method for tracking a target based on the tracking image and the distance information that retraces the target by reflecting the collected distance information only when the target tracking fails using only the tracking image. There is this.

The apparatus for tracking a target based on the tracking image and distance information according to the present invention for achieving the above object includes: a tracking image generating unit generating a tracking image for tracking a target; A laser pulse transmitting / receiving unit that fires a laser pulse toward the target and receives a laser pulse reflected and returned from the target area and the area around the target; A distance information collection unit collecting distance information on a target area and a region around the target based on the received laser pulse; And a target tracking unit that tracks a target based on the generated tracking image and the collected distance information or retraces the target by reflecting the collected distance information only when the target tracking fails using only the tracking image.

In addition, the distance information collecting unit is characterized in that it collects the distance information for the target area and the area around the target based on the time according to the time point at which the laser pulse was fired and reflected and received.

In addition, the target tracking unit is characterized in separating the target area and the area around the target in the tracking image based on the collected distance information, and tracking the target from the separated target area.

In addition, the target tracking unit detects a target in a tracking image, and compares the similarity between information of the previously tracked target and information about the currently detected target to determine whether the target tracking is successful.

In addition, the target tracking unit determines that the target tracking is successful when the similarity between the information of the previously tracked target and the information on the currently detected target falls within a preset similarity range, and the target tracking information and the currently detected target If the similarity of information on the target does not fall within a predetermined similarity range, it is characterized by determining that the target tracking has failed.

In addition, when it is determined that the target tracking is failed, the target tracking unit is characterized in separating the target area and the area around the target in the tracking image based on the collected distance information, and re-tracking the target from the separated target area.

In addition, as a result of tracking a target based on the generated tracking image and the collected distance information, the collected distance information is reflected when the target tracking is failed using only the tracking image and the result of the successful tracking of the target using only the tracking image. It characterized in that it further comprises a target tracking result providing unit that provides at least one of the results of re-tracking the target to the operator.

A method of tracking a target based on the tracking image and distance information according to the present invention for achieving the above object includes: generating a tracking image for tracking a target by a tracking image generating unit; Receiving, by the laser pulse transmitting / receiving unit, a laser pulse that is reflected toward and returns from the target area and the area around the target by firing the laser pulse toward the target; Collecting distance information on the target area and the area around the target based on the received laser pulse by the distance information collection unit; And tracking, by the target tracking unit, a target based on the generated tracking image and the collected distance information, or re-tracking the target by reflecting the collected distance information only when the target tracking fails using only the tracking image. Includes.

In addition, the step of collecting the distance information for the target area and the area around the target based on the received laser pulse, the target area and the area around the target based on the time according to the time point at which the laser pulse was fired and reflected is received. Characterized by collecting the distance information for.

In addition, the step of tracking the target based on the generated tracking image and the collected distance information, the target tracking unit separates the target area and the area around the target in the tracking image based on the collected distance information, and targets from the separated target area It is characterized by tracking.

In addition, the step of re-tracking the target by reflecting the collected distance information only when the target tracking fails by using only the tracking image, detects the target in the tracking image, previously tracked target information and the currently detected target It is characterized by determining whether the target tracking is successful by comparing the similarity of information on.

In addition, in the step of re-tracking the target by reflecting the collected distance information only when the target tracking fails using only the tracking image, the similarity between the previously tracked target information and the information on the currently detected target is similar. It is characterized in that it is determined that the target tracking is successful in the case of belonging to the range, and the target tracking is failed when the similarity between the information of the previously tracked target and the information on the currently detected target does not fall within the preset similar range.

In addition, the step of re-tracking the target by reflecting the collected distance information only when the target tracking fails using only the tracking image, if it is determined that the target tracking has failed, based on the collected distance information, the target region and the target area within the tracking image It is characterized by separating the area around the target and re-tracking the target from the separated target area.

Apparatus and method for tracking a target based on the tracking image and distance information according to the present invention for achieving the above object is to track the target based on the distance information collected from the tracking image and the laser pulse emitted toward the target By separating the target area and the area around the target in the generated tracking image, and tracking the target from the separated target area, it is possible to accurately track the target.

In addition, in the case of tracking a target by using only a tracking image generated to track the target, the present invention, when target tracking fails due to a change in background around the target, a change in illumination, a change in shape of the target, and a change in color of the target, etc. By reflecting the distance information collected from the laser pulse emitted toward the target, the target area and the area around the target are separated in the tracking image, and the target can be accurately tracked by re-tracking the target from the separated target area. have.

1 is a view for explaining the configuration of a device for tracking a target based on tracking images and distance information according to the present invention.
2 and 3 show the distance information for the target area and the area around the target based on the laser pulse received by the distance information collection unit employed in the apparatus for tracking the target based on the tracking image and the distance information according to the present invention. It is a drawing to explain collecting.
FIG. 4 is a diagram for explaining separation of a target region and a region around a target in a tracking image by a target tracking unit employed in an apparatus for tracking a target based on the tracking image and distance information according to the present invention.
5 is a view for explaining a sequence of a method for tracking a target based on tracking images and distance information according to the present invention.
6 is a view for explaining in detail the sequence of a method for tracking a target based on the tracking image and the collected distance information generated in the method for tracking the target based on the tracking image and the distance information according to the present invention.
7 is a detailed sequence of a method for re-tracking a target by reflecting the collected distance information only when the target tracking fails using only the tracking image in the method of tracking the target based on the tracking image and the distance information according to the present invention. It is a figure for illustration.

The present invention can be applied to various changes and can have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals are used for similar components.

When an element is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

The terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Hereinafter, the same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

1 is a view for explaining the configuration of a device for tracking a target based on tracking images and distance information according to the present invention, and FIGS. 2 and 3 are tracking targets based on tracking images and distance information according to the present invention A diagram for explaining collecting distance information for a target area and a region around a target based on a laser pulse received by a distance information collection unit employed in a device, and FIG. 4 is a tracking image and distance information according to the present invention A diagram for explaining separation of a target region and a region around a target in a tracking image by a target tracking unit employed in a device for tracking a target based on.

Referring to FIG. 1, the apparatus 100 for tracking a target based on the tracking image and the distance information according to the present invention is largely a tracking image generating unit 110, a laser pulse transmitting and receiving unit 120, and a distance information collecting unit 130, a target tracking unit 140, a target tracking setting unit 145 and a target tracking result providing unit 150.

The tracking image generator 110 generates a tracking image for tracking the target.

The tracking image generator 110 may be any device capable of acquiring image information using various wavelength bands and techniques, such as visible light, infrared light, millimeter wave, and image radar (SAR).

The laser pulse transmitting / receiving unit 120 fires a laser pulse toward the target to receive the laser pulse reflected back from the target area and the area around the target.

The laser pulse transmitting / receiving unit 120 is a radar, which is a radar developed using a laser pulse line having properties close to radio waves, and is also abbreviated as LIght Detection And Ranging in English. It is a compound word made by mixing ”and“ radar (radio detection and ranging) ”. In other words, a radar means a radar that uses light instead of radio waves, and the radar has the same principle as a traditional radar, but because the wavelength of electromagnetic waves used is different, the actual use technology and utilization range are different.

The laser pulse transmitting and receiving unit 120 (lider) according to the present invention may be mounted in a form combined with the tracking image generating unit 110, but is not limited thereto. In more detail, the laser pulse transmitting and receiving unit 120 uses a matrix type or array type optical sensing device for quick response and measurement of an area range, and is operated under the control of the tracking image generation unit 110 Can be.

The distance information collecting unit 130 collects distance information on the target area and the area around the target based on the received laser pulse.

In more detail, the distance information collection unit 130 calculates the distance between the sensor and the reflection point by measuring the reflected laser pulse, and the target area as shown in FIG. 2 from the matrix type or array type light sensing devices. And distance information in an area around the target (background). That is, the distance information collecting unit 130 uses a method of measuring a distance based on a time when a laser pulse is fired and a time when a laser pulse is reflected and received, as illustrated in FIG. 3. Similarly, the distance between the target area and the area around the target can be calculated.

The target tracking unit 140 tracks the target based on the generated tracking image and the collected distance information, or retraces the target by reflecting the collected distance information only when the target tracking fails using only the tracking image.

That is, the target tracking unit 140 may simultaneously track the target using the generated tracking image and the collected distance information according to the target tracking setting information of the received operator, and first track the target through the generated tracking image If the target tracking fails, the collected distance information may be used to retrace the target.

When the target tracking unit 140 is set to track the target by using the generated tracking image and the collected distance information at the same time, as shown in FIG. 4, based on the collected distance information, the target area and the target area within the tracking image Separate the region of, and track the target from the separated target region.

Meanwhile, the target tracking unit 140 first detects a target within the tracking image when it is set to track the target through the generated tracking image and then re-tracks the target using the collected distance information when the target tracking fails, The success or failure of target tracking is determined by comparing the similarity between previously tracked target information and information about the currently detected target.

In this case, the target tracking unit 140 determines that the target tracking is successful when the similarity between the information of the previously tracked target and the information on the currently detected target falls within a preset similar range, and the target tracking information and If the similarity of information on the currently detected target does not fall within the preset similarity range, it is determined that the target tracking has failed.

When it is determined that the target tracking is failed, the target tracking unit 140 separates the target area and the area around the target from the tracking image based on the collected distance information as shown in FIG. 4, and targets the target from the separated target area. Retrace.

The target tracking setting unit 145 tracks the target using the tracking image generated when tracking the target from the operator and the collected distance information at the same time, or tracks the target through the generated tracking image first, and then collects when the target tracking fails Receiving and storing the selected target tracking setting information as to whether to retrace the target using the distance information.

The target tracking result providing unit 150 tracks the target based on the generated tracking image and the collected distance information, and when the target tracking fails using only the tracking image and the result of the successful tracking of the target using only the tracking image Provide at least one of the results of re-tracking the target by reflecting the distance information collected in the operator.

5 is a view for explaining a sequence of a method for tracking a target based on tracking images and distance information according to the present invention.

Referring to FIG. 5, a method of tracking a target based on the tracking image and the distance information according to the present invention uses a device for tracking the target based on the tracking image and the distance information described above, and the repeated description is omitted below. I will do it.

First, a tracking image for tracking a target is generated (S100).

Next, a laser pulse is emitted toward the target to receive the laser pulse reflected and returned from the target area and the area around the target (S110).

Next, based on the received laser pulse, the distance information for the target area and the area around the target is collected (S120).

The step S120 uses a method of measuring a distance based on a time of flight when the laser pulse is fired and a time when the laser pulse is reflected and received, and the like, as shown in FIG. 3, and surrounding the target area. You can calculate the distance to the area.

Next, the target is tracked based on the generated tracking image and the collected distance information, or the target is retraced by reflecting the collected distance information only when the target tracking fails using only the tracking image (S130).

Before step S130, whether to track the target by simultaneously using the tracking image generated when tracking the target from the operator and the collected distance information, or first track the target through the generated tracking image, and if the target tracking fails, the collected distance information It may include the step of receiving and storing the target tracking setting information selectively selected as to whether or not to retrace the target, which will be described in detail in FIGS. 6 and 7 described later.

Next, as a result of tracking the target based on the generated tracking image and the collected distance information, the collected distance information is reflected when the target tracking is failed using only the tracking image and the result of the successful tracking of the target using only the tracking image By providing the operator with at least one of the results of re-tracking the target (S140).

6 is a view for explaining in detail the sequence of a method for tracking a target based on the tracking image and the collected distance information generated in the method for tracking the target based on the tracking image and the distance information according to the present invention.

Referring to Figure 6, a method of tracking a target based on the generated tracking image and the collected distance information according to the present invention, first, the tracking image generated at the time of tracking the target selectively input from the operator and the collected distance information at the same time Target tracking setting information to track a target by using is received (S200).

Next, a tracking image for tracking the target is generated (S210).

Next, a laser pulse is emitted toward the target to receive the laser pulse reflected and returned from the target area and the area around the target (S220).

Next, based on the received laser pulse, the distance information for the target area and the area around the target is collected (S230).

In step S230, the distance between the target area and the area around the target is calculated using a method of measuring a distance based on a time of flight when the laser pulse is fired and a time when the laser pulse is reflected and received. You can.

Next, the target region and the region around the target are separated in the tracking image based on the collected distance information (S240).

Next, the target is tracked from the separated target area, and the result of tracking the target is provided to the operator based on the generated tracking image and the collected distance information (S250).

7 is a detailed sequence of a method for re-tracking a target by reflecting the collected distance information only when the target tracking fails using only the tracking image in the method of tracking the target based on the tracking image and the distance information according to the present invention. It is a figure for illustration.

Referring to FIG. 7, the method of re-tracking a target by reflecting the collected distance information only when the target tracking fails using only the tracking image according to the present invention is firstly generated by the operator firstly selected tracking image When tracking a target through the target tracking fails, the target tracking setting information selectively input as to whether to retrace the target using the collected distance information is received (S300).

Next, a tracking image for tracking the target is generated (S310).

Next, a laser pulse is emitted toward the target to receive the laser pulse reflected and returned from the target area and the area around the target (S320).

Next, based on the received laser pulse, the distance information for the target area and the area around the target is collected (S330).

In step S330, a distance between a target region and a region around the target is calculated using a method of measuring a distance based on a time of flight when the laser pulse is fired and a time when the laser pulse is reflected and received. You can.

Next, the target is detected in the tracking image, and the success or failure of the target tracking is determined by comparing the similarity between the previously tracked target information and the information on the currently detected target (S340).

In step S340, when the similarity between the information of the previously tracked target and the information on the currently detected target falls within a predetermined similarity range, it is determined that the target tracking is successful, and the information of the previously tracked target and the currently detected target If the similarity of information does not fall within the preset similarity range, it is determined that the target tracking has failed.

Next, if it is determined in step S340 that the target tracking is successful, the result of the successful target tracking is provided to the operator using only the tracking image (S350).

Meanwhile, if it is determined in step S340 that the target tracking has failed, the target area and the area around the target are separated in the tracking image based on the collected distance information (S360).

Next, the target is re-tracked from the separated target area, and the result of re-tracking the target is reflected to the operator by reflecting the distance information collected when the target tracking fails (S370).

As described above, the apparatus and method for tracking a target based on the tracking image and the distance information according to the present invention include a tracking image and a tracking image generated to track a target based on distance information collected from a laser pulse emitted toward the target By separating the target region from the target region and tracking the target from the separated target region, the target can be accurately tracked.

In addition, in the case of tracking a target by using only a tracking image generated to track the target, the present invention, when target tracking fails due to a change in background around the target, a change in illumination, a change in shape of the target, and a change in color of the target, etc. By reflecting the distance information collected from the laser pulse fired toward the target, the target area can be accurately tracked by separating the target area and the area around the target in the tracking image and retracking the target from the separated target area.

As described above, the functional operations described in the present specification and the embodiments related to the present subject matter are implemented in digital electronic circuits or computer software, firmware or hardware, or a combination of one or more of them, including the structures disclosed herein and their structural equivalents. It is possible.

Embodiments of the subject matter described herein may include one or more computer program products, ie, one or more computer program instructions that are encoded on a tangible program medium for execution by a data processing device or to control its operation. It can be implemented as a module. The tangible program medium may be a propagated signal or a computer-readable medium. Propagated signals are artificially generated signals, such as, for example, machine-generated electrical, optical or electromagnetic signals generated to encode information for transmission to a suitable receiver device for execution by a computer. The computer-readable medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, a combination of materials affecting a machine-readable propagated signal, or a combination of one or more of them.

A computer program (also known as a program, software, software application, script, or code) can be written in any form of a compiled or interpreted language or a programming language, including a priori or procedural language, and can be a standalone program or module, It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

Computer programs do not necessarily correspond to files on file devices. A program can be in a single file provided to the requested program, or in multiple interactive files (eg, one or more files that store modules, subprograms or parts of code), or of files that hold other programs or data. It may be stored in some (eg, one or more scripts stored in a markup language document).

Computer programs may be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

Additionally, the logical flow and structural block diagrams described in this patent document describe corresponding actions and / or specific methods supported by corresponding functions and steps supported by the disclosed structural means, and corresponding It can also be used to build software structures and algorithms and their equivalents.

The processes and logic flows described herein can be performed by a programmable processor, one or more executing a computer program to perform functions by operating on received data and generating output.

Processors suitable for the execution of a computer program include, for example, both general purpose and special purpose microprocessors and any one or more processors of any type of digital computer. Generally, the processor will receive instructions and data from read-only memory or random access memory or both.

A key element of a computer is one or more memory devices for storing instructions and data, and processors for performing instructions. In addition, the computer is generally such that one or more for storing data, such as a magnetic, magnetic optical disk or optical disk, is operable to receive data from, transfer data to, or perform both of those operations from a mass storage device. Combined or will include. However, the computer need not have such a device.

The described description presents the best mode of the present invention, and provides examples for explaining the present invention and for those skilled in the art to make and use the present invention. This written specification is not intended to limit the invention to the specific terms presented.

Therefore, although the present invention has been described in detail with reference to the above-described examples, those skilled in the art can make modifications, alterations, and modifications to these examples without departing from the scope of the present invention. In short, in order to achieve the intended effect of the present invention, it is not necessary to separately include all the functional blocks shown in the drawings or to follow all the order shown in the drawings in the order shown, and even if not, any number of technical aspects of the present invention described in the claims Note that it can fall within the scope.

100: a device for tracking a target based on tracking images and distance information
110: tracking image generator
120: laser pulse transmitting and receiving unit
130: street information collection unit
140: target tracking unit
145: target tracking setting unit
150: target tracking result providing unit

Claims (13)

A tracking image generator for generating a tracking image for tracking a target;
A laser pulse transmitting / receiving unit that fires a laser pulse toward the target and receives a laser pulse reflected and returned from the target area and the area around the target;
A distance information collection unit collecting distance information on a target area and a region around the target based on the received laser pulse; And
A target tracking unit that tracks a target based on the generated tracking image and the collected distance information, or retraces the target by reflecting the collected distance information only when the target tracking fails using only the tracking image;
Device for tracking the target based on the tracking image and distance information, characterized in that it comprises a. According to claim 1,
The distance information collecting unit collects the distance information for the target area and the area around the target based on the time according to the time point at which the laser pulse is fired and the time point at which the laser pulse is received. Device to keep track of. According to claim 1,
The target tracking unit separates a target region and a region around the target from the tracking image based on the collected distance information, and tracks the target based on the tracking image and distance information, characterized in that the target is tracked from the separated target region. Device. According to claim 1,
The target tracking unit detects a target in a tracking image, and compares the similarity between information of the previously tracked target and information about the currently detected target to determine whether the target tracking is successful or not. A device to track targets based on. According to claim 4,
The target tracking unit determines that the target tracking is successful when the similarity between the information of the previously tracked target and the information on the currently detected target falls within a preset similarity range, and the target tracking information and the currently detected target are determined. A device for tracking a target based on the tracking image and distance information, characterized in that it is determined that the target tracking has failed when the similarity of information for the information does not fall within a preset similarity range. According to claim 4,
The target tracking unit, if it is determined that the target tracking has failed, based on the collected distance information, the target image and the area surrounding the target are separated, and a tracking image characterized by re-tracking the target from the separated target region and A device that tracks a target based on distance information. According to claim 1,
As a result of tracking the target based on the generated tracking image and the collected distance information, the target reflects the collected distance information when the target tracking is failed using only the tracking image and the result for the case where the target tracking is successful using only the tracking image And a target tracking result providing unit that provides at least one of the retraced results to the operator. Generating a tracking image for tracking the target by the tracking image generator;
Receiving, by the laser pulse transmitting / receiving unit, a laser pulse that is reflected toward and returns from the target area and the area around the target by firing the laser pulse toward the target;
Collecting distance information on the target area and the area around the target based on the received laser pulse by the distance information collection unit; And
Tracking, by the target tracking unit, a target based on the generated tracking image and the collected distance information, or retracking the target by reflecting the collected distance information only when the target tracking fails using only the tracking image;
Method for tracking a target based on the tracking image and distance information, characterized in that it comprises a. The method of claim 8,
The step of collecting distance information on the target area and the area around the target based on the received laser pulse,
A method of tracking a target based on a tracking image and distance information, characterized by collecting distance information for a target area and a region around the target based on a time according to a time point at which the laser pulse is fired and a time point at which the laser pulse is received. The method of claim 9,
Tracking the target based on the generated tracking image and the collected distance information,
The target tracking unit separates a target region and a region around the target from the tracking image based on the collected distance information, and tracks the target based on the tracking image and distance information, which is characterized in tracking the target from the separated target region. . The method of claim 8,
Retrace the target by reflecting the collected distance information only when the target tracking fails using only the tracking image,
The target is based on the tracking image and distance information, which detects the target in the tracking image and compares the similarity between the previously tracked target information and the information on the currently detected target to determine whether the target tracking is successful or not. How to track it. The method of claim 11,
In the step of re-tracking the target by reflecting the collected distance information only when the target tracking fails using only the tracking image,
When the similarity between the information of the previously tracked target and the information on the currently detected target falls within a predetermined similarity range, it is determined that the target tracking is successful, and the similarity between the information on the previously detected target and the information on the currently detected target. A method of tracking a target based on the tracking image and distance information, characterized in that it is determined that the target tracking has failed if it does not belong to a preset similarity range. The method of claim 11,
Retrace the target by reflecting the collected distance information only when the target tracking fails using only the tracking image,
If it is determined that the target tracking has failed, based on the collected tracking information and the distance information, characterized in that the separation of the target area and the area around the target in the tracking image based on the collected distance information, and re-tracking the target from the separated target area How to track targets.

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