相关论文: Probabilistic 3D Multi-Object Tracking for Autonom…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

This paper introduces a joint learning architecture (JLA) for multiple object tracking (MOT) and trajectory forecasting in which the goal is to predict objects' current and future trajectories simultaneously. Motion prediction is widely…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and…

Multi-Object Tracking (MOT) plays a crucial role in autonomous driving systems, as it lays the foundations for advanced perception and precise path planning modules. Nonetheless, single agent based MOT lacks in sensing surroundings due to…

Semi-supervised 3D object detection is a common strategy employed to circumvent the challenge of manually labeling large-scale autonomous driving perception datasets. Pseudo-labeling approaches to semi-supervised learning adopt a…

In this paper we present a Neural Network design that can be used to track the location of a moving object within a given range based on the object's noisy coordinates measurement. A function commonly performed by the KLMn filter, our goal…

Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D…

Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…

Multi-object tracking (MOT) predominantly follows the tracking-by-detection paradigm, where Kalman filters serve as the standard motion predictor due to computational efficiency but inherently fail on non-linear motion patterns. Conversely,…

Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…

This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…

Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…

Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and safe trajectories. To facilitate these processes, the motion…

We present a modular, production-ready approach that integrates compact Neural Network (NN) into a Kalmanfilter-based Multi-Object Tracking (MOT) pipeline. We design three tiny task-specific networks to retain modularity, interpretability…

We argue that object detectors in the safety critical domain should prioritize detection of objects that are most likely to interfere with the actions of the autonomous actor. Especially, this applies to objects that can impact the actor's…

Multi-object tracking (MOT) is one of the most challenging tasks in computer vision, where it is important to correctly detect objects and associate these detections across frames. Current approaches mainly focus on tracking objects in each…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

This technical report presents the online and real-time 2D and 3D multi-object tracking (MOT) algorithms that reached the 1st places on both Waymo Open Dataset 2D tracking and 3D tracking challenges. An efficient and pragmatic online…

Defining a multi-target motion model, which is an important step of tracking algorithms, can be very challenging. Using fixed models (as in several generative Bayesian algorithms, such as Kalman filters) can fail to accurately predict…