相关论文: Combined Image- and World-Space Tracking in Traffi…

Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…

This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance,…

Accurate and reliable tracking of multiple moving objects in 3D space is an essential component of urban scene understanding. This is a challenging task because it requires the assignment of detections in the current frame to the predicted…

Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and…

Data association is a knotty problem for 2D Multiple Object Tracking due to the object occlusion. However, in 3D space, data association is not so hard. Only with a 3D Kalman Filter, the online object tracker can associate the detections…

Object tracking is an essential task for autonomous systems. With the advancement of 3D sensors, these systems can better perceive their surroundings using effective 3D Extended Object Tracking (EOT) methods. Based on the observation that…

The reliability of driving perception systems under unprecedented conditions is crucial for practical usage. Latest advancements have prompted increasing interest in multi-LiDAR perception. However, prevailing driving datasets predominantly…

This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…

Over the recent years, there has been an explosion of studies on autonomous vehicles. Many collected large amount of data from human drivers. However, compared to the tedious data collection approach, building a virtual simulation of…

In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…

We present a novel framework for global localization and guided relocalization of a vehicle in an unstructured environment. Compared to existing methods, our pipeline does not rely on cues from urban fixtures (e.g., lane markings,…

Autonomous systems need to localize and track surrounding objects in 3D space for safe motion planning. As a result, 3D multi-object tracking (MOT) plays a vital role in autonomous navigation. Most MOT methods use a tracking-by-detection…

In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…

Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

3D multi-object tracking (MOT) is essential to applications such as autonomous driving. Recent work focuses on developing accurate systems giving less attention to computational cost and system complexity. In contrast, this work proposes a…