Moving direction measuring device and tracking apparatus

Claim 2

A moving direction measuring device comprising: collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a reference position in the correlation component area to a position of the correlation peak as a moving direction of said device.

Claim 3

A moving direction measuring device comprising: collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a reference position in the correlation component area to a position of the correlation peak as a moving direction of said device.

Claim 4

A moving direction measuring device comprising: collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a reference position in the correlation component area to a position of the correlation peak as a moving direction of said device.

Claim 5

A moving direction measuring device comprising: registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of said device.

Claim 6

A moving direction measuring device comprising: registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of said device.

Claim 7

A moving direction measuring device comprising: registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of said device.

Claim 8

A moving direction measuring device comprising: registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor; and moving direction measuring means for obtaining a correlation peak in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of said device.

Claim 11

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from the reference position in the correlation component area to a position of the correlation peak as a moving direction of a target, and a distance from the reference position in the correlation component area to the position of the correlation peak as a moving amount of the target; predicting means for predicting, on the basis of the moving direction and amount obtained by said moving vector obtaining means, whether the target falls outside a data area of two-dimensional pattern data which is likely to be input at time T n+2 ; moving means for, when said predicting means predicts that the target will fall outside the data area of the two-dimensional pattern data which is likely to be input at time T n+2 , moving the visual field of said two-dimensional pattern data input means such that the target falls within the data area of the two-dimensional pattern data input at time T n+2 ; and correction means for, if the visual field of said two-dimensional pattern data input means is moved by said moving means, and when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means.

Claim 12

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from the reference position in the correlation component area to a position of the correlation peak as a moving direction of a target, and a distance from the reference position in the correlation component area to the position of the correlation peak as a moving amount of the target; predicting means for predicting, on the basis of the moving direction and amount obtained by said moving vector obtaining means, whether the target falls outside a data area of two-dimensional pattern data which is likely to be input at time T n+2 ; moving means for, when said predicting means predicts that the target will fall outside the data area of the two-dimensional pattern data which is likely to be input at time T n+2 , moving the visual field of said two-dimensional pattern data input means such that the target falls within the data area of the two-dimensional pattern data input at time T n+2 ; and correction means for, if the visual field of said two-dimensional pattern data input means is moved by said moving means, and when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means.

Claim 13

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from the reference position in the correlation component area to a position of the correlation peak as a moving direction of a target, and a distance from the reference position in the correlation component area to the position of the correlation peak as a moving amount of the target; moving means for moving a visual field of said two-dimensional pattern data input means on the basis of the moving direction and amount obtained by said moving vector obtaining means such that the target is located in a data area of two-dimensional pattern data input at next time T n+2 ; and correction means for correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means which is moved by said moving means, when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 .

Claim 14

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from the reference position in the correlation component area to a position of the correlation peak as a moving direction of a target, and a distance from the reference position in the correlation component area to the position of the correlation peak as a moving amount of the target; moving means for moving a visual field of said two-dimensional pattern data input means on the basis of the moving direction and amount obtained by said moving vector obtaining means such that the target is located in a data area of two-dimensional pattern data input at next time T n+2 ; and correction means for correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means which is moved by said moving means, when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 .

Claim 15

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of a target, and a distance from the position of the correlation peak to the reference position in the correlation component area as a moving amount of the target; predicting means for predicting, on the basis of the moving direction and amount obtained by said moving vector obtaining means, whether the target falls outside a data area of two-dimensional pattern data which is likely to be input at time T n+2 ; moving means for, when said predicting means predicts that the target will fall outside the data area of the two-dimensional pattern data which is likely to be input at time T n+2 , moving the visual field of said two-dimensional pattern data input means such that the target falls within the data area of the two-dimensional pattern data input at time T n+2 ; and correction means for, if the visual field of said two-dimensional pattern data input means is moved by said moving means, and when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means.

Claim 16

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of a target, and a distance from the position of the correlation peak to the reference position in the correlation component area as a moving amount of the target; predicting means for predicting, on the basis of the moving direction and amount obtained by said moving vector obtaining means, whether the target falls outside a data area of two-dimensional pattern data which is likely to be input at time T n+2 ; moving means for, when said predicting means predicts that the target will fall outside the data area of the two-dimensional pattern data which is likely to be input at time T n+2 , moving the visual field of said two-dimensional pattern data input means such that the target falls within the data area of the two-dimensional pattern data input at time T n+2 ; and correction means for, if the visual field of said two-dimensional pattern data input means is moved by said moving means, and when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means.

Claim 17

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of a target, and a distance from the position of the correlation peak to the reference position in the correlation component area as a moving amount of the target; moving means for moving a visual field of said two-dimensional pattern data input means on the basis of the moving direction and amount obtained by said moving vector obtaining means such that the target is located in a data area of two-dimensional pattern data input at next time T n+2 ; and correction means for correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means which is moved by said moving means, when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 .

Claim 18

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving vector obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a direction from a position of the correlation peak as a starting point to a reference position in the correlation component area as a moving direction of a target, and a distance from the position of the correlation peak to the reference position in the correlation component area as a moving amount of the target; moving means for moving a visual field of said two-dimensional pattern data input means on the basis of the moving direction and amount obtained by said moving vector obtaining means such that the target is located in a data area of two-dimensional pattern data input at next time T n+2 ; and correction means for correcting positions of correlation peaks in a correlation component area appearing in synthesized Fourier two-dimensional pattern data obtained by synthesizing two-dimensional pattern data at time T n+1 and time T n+2 , on the basis of a moving direction and amount of the visual field of said two-dimensional pattern data input means which is moved by said moving means, when said moving vector obtaining means obtains the moving direction and amount of the target by using the two-dimensional pattern data at time T n+1 and time T n+2 .

Claim 20

An apparatus according to claim 7 or 8, wherein said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T n as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor, and said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T n+1 as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor.

Claim 21

An apparatus according to claim 9 or 10, wherein said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T n as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor, and said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T n+1 as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor.

Claim 22

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; distance measuring means for measuring a distance to a target located in a visual field of said two-dimensional pattern data input means in a direction of depth; direction-of-depth distance obtaining means for obtaining a difference between a distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and a distance L n+1 ' to the target in the direction of depth at time T n+1 as a moving distance of the target in the direction of depth; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; enlargement/reduction processing means for performing enlargement/reduction processing for two-dimensional pattern data input at time T n+1 in accordance with a ratio between the distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and the distance L n+1 ' to the target in the direction of depth at time T n+1 ; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving distance obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a distance from the reference position in the correlation component area to a position of the correlation peak as a moving distance of the object on a plane perpendicular to the direction of depth; moving vector obtaining means for obtaining a moving vector of the target from the moving distance of the target in the direction of depth and the moving distance of the target in the plane perpendicular to the direction of depth which are obtained by said direction-of-depth distance obtaining means and said moving distance obtaining means; and moving means for moving a position of said two-dimensional pattern data input means on the basis of the moving vector of the target which is obtained by said moving vector obtaining means.

Claim 23

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; distance measuring means for measuring a distance to a target located in a visual field of said two-dimensional pattern data input means in a direction of depth; direction-of-depth distance obtaining means for obtaining a difference between a distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and a distance L n+1 ' to the target in the direction of depth at time T n+1 as a moving distance of the target in the direction of depth; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; enlargement/reduction processing means for performing enlargement/reduction processing for two-dimensional pattern data input at time T n+1 in accordance with a ratio between the distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and the distance L n+1 ' to the target in the direction of depth at time T n+1 ; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; pattern processing means for synthesizing the registration Fourier two-dimensional pattern data and the collation Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving distance obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a distance from the reference position in the correlation component area to a position of the correlation peak as a moving distance of the object on a plane perpendicular to the direction of depth; moving vector obtaining means for obtaining a moving vector of the target from the moving distance of the target in the direction of depth and the moving distance of the target in the plane perpendicular to the direction of depth which are obtained by said direction-of-depth distance obtaining means and said moving distance obtaining means; and moving means for moving a position of said two-dimensional pattern data input means on the basis of the moving vector of the target which is obtained by said moving vector obtaining means.

Claim 24

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; distance measuring means for measuring a distance to a target located in a visual field of said two-dimensional pattern data input means in a direction of depth; direction-of-depth distance obtaining means for obtaining a difference between a distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and a distance L n+1 ' to the target in the direction of depth at time T n+1 as a moving distance of the target in the direction of depth; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; enlargement/reduction processing means for performing enlargement/reduction processing for two-dimensional pattern data input at time T n+1 in accordance with a ratio between the distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and the distance L n+1 ' to the target in the direction of depth at time T n+1 ; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving distance obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a distance from a position of the correlation peak to the reference position in the correlation component area as a moving distance of the object on a plane perpendicular to the direction of depth; moving vector obtaining means for obtaining a moving vector of the target from the moving distance of the target in the direction of depth and the moving distance of the target in the plane perpendicular to the direction of depth which are obtained by said direction-of-depth distance obtaining means and said moving distance obtaining means; and moving means for moving a position of said two-dimensional pattern data input means on the basis of the moving vector of the target which is obtained by said moving vector obtaining means.

Claim 25

A tracking apparatus comprising: two-dimensional pattern data input means for inputting data in a predetermined visual field as two-dimensional pattern data; distance measuring means for measuring a distance to a target located in a visual field of said two-dimensional pattern data input means in a direction of depth; direction-of-depth distance obtaining means for obtaining a difference between a distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and a distance L n+1 ' to the target in the direction of depth at time T n+1 as a moving distance of the target in the direction of depth; collation Fourier pattern data generating means for setting two-dimensional pattern data input at time T n as collation pattern data, and generating collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data; enlargement/reduction processing means for performing enlargement/reduction processing for two-dimensional pattern data input at time T n+1 in accordance with a ratio between the distance L n to the target in the direction of depth at time T n , which is measured by said distance measuring means, and the distance L n+1 ' to the target in the direction of depth at time T n+1 ; registration Fourier pattern data generating means for setting two-dimensional pattern data input at time T n+1 as registration pattern data, and generating registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data; pattern processing means for synthesizing the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performing either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data; moving distance obtaining means for obtaining a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in synthesized Fourier two-dimensional pattern data having undergone Fourier transform performed by said pattern processing means, and obtaining a distance from a position of the correlation peak to the reference position in the correlation component area as a moving distance of the object on a plane perpendicular to the direction of depth; moving vector obtaining means for obtaining a moving vector of the target from the moving distance of the target in the direction of depth and the moving distance of the target in the plane perpendicular to the direction of depth which are obtained by said direction-of-depth distance obtaining means and said moving distance obtaining means; and moving means for moving a position of said two-dimensional pattern data input means on the basis of the moving vector of the target which is obtained by said moving vector obtaining means.

Claim 26

An apparatus according to claim 14, wherein said pattern processing means synthesizes the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor.

Claim 27

An apparatus according to claim 14, wherein said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T n as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor, and said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T n+1 and having undergone enlargement/reduction processing as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor.

Claim 28

An apparatus according to claim 15, wherein said collation Fourier pattern data generating means sets two-dimensional pattern data input at time T n as collation pattern data, and generates collation Fourier two-dimensional pattern data by performing amplitude suppression processing for the collation pattern data after performing two-dimensional discrete Fourier transform therefor, and said registration Fourier pattern data generating means sets two-dimensional pattern data input at time T n+1 and having undergone enlargement/reduction processing as registration pattern data, and generates registration Fourier two-dimensional pattern data by performing amplitude suppression processing for the registration pattern data after performing two-dimensional discrete Fourier transform therefor.

Claim 29

An apparatus according to claim 15, wherein said pattern processing means synthesizes the collation Fourier two-dimensional pattern data and the registration Fourier two-dimensional pattern data, and performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data after performing amplitude suppression processing therefor.

Claim 31

An apparatus according to claim 20 wherein said distance measuring means includes first and second cameras, uses one of said cameras with said two-dimensional pattern data input means, sets image data picked up by said first camera as registration pattern data, generates registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data, sets image data picked up by said second camera as collation pattern data, generates collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data, synthesizes the collation Fourier two-dimensional pattern data an the registration Fourier two-dimensional pattern data, performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data, obtains a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform, and measures a distance to the target in the direction of depth on the basis of a distance between a position of the correlation peak and the reference position in the correlation component area.

Claim 33

An apparatus according to claim 22 wherein said distance measuring means includes first and second cameras, uses one of said cameras with said two-dimensional pattern data input means, sets image data picked up by said first camera as registration pattern data, generates registration Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the registration pattern data, sets image data picked up by said second camera as collation pattern data, generates collation Fourier two-dimensional pattern data by performing two-dimensional discrete Fourier transform for the collation pattern data, synthesizes the collation Fourier two-dimensional pattern data an the registration Fourier two-dimensional pattern data, performs either two-dimensional discrete Fourier transform or two-dimensional discrete inverse Fourier transform for the resultant synthesized Fourier two-dimensional pattern data, obtains a correlation peak in a range excluding a portion near a reference position in a correlation component area appearing in the synthesized Fourier two-dimensional pattern data having undergone Fourier transform, and measures a distance to the target in the direction of depth on the basis of a distance between a position of the correlation peak and the reference position in the correlation component area.