相关论文: Multi-Object Tracking using Poisson Multi-Bernoull…

The challenge of 3D multi-object tracking is achieving robustness in real-world applications, for example under adverse conditions and maintaining consistency as distance increases. To overcome these challenges, sensor fusion approaches…

With the increasing complexity of multiple target tracking scenes, a single sensor may not be able to effectively monitor a large number of targets. Therefore, it is imperative to extend the single-sensor technique to Multi-Sensor…

A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

We propose a 3D multi-object tracking (MOT) solution using only 2D detections from monocular cameras, which automatically initiates/terminates tracks as well as resolves track appearance-reappearance and occlusions. Moreover, this approach…

A large-scale multi-object tracker based on the generalised labeled multi-Bernoulli (GLMB) filter is proposed. The algorithm is capable of tracking a very large, unknown and time-varying number of objects simultaneously, in the presence of…

We provide a derivation of the Poisson multi-Bernoulli mixture (PMBM) filter for multi-target tracking with the standard point target measurements without using probability generating functionals or functional derivatives. We also establish…

In this paper we present a robust tracker to solve the multiple object tracking (MOT) problem, under the framework of tracking-by-detection. As the first contribution, we innovatively combine single object tracking (SOT) algorithms with…

Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…

3D multi-object tracking (3D MOT) stands as a pivotal domain within autonomous driving, experiencing a surge in scholarly interest and commercial promise over recent years. Despite its paramount significance, 3D MOT confronts a myriad of…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

In this survey, we first introduce the background of popular sensors used for self-driving, their data properties, and the corresponding object detection algorithms. Next, we discuss existing datasets that can be used for evaluating…

The MS-GLMB filter offers a robust framework for tracking multiple objects through the use of multi-sensor data. Building on this, the MV-GLMB and MV-GLMB-AB filters enhance the MS-GLMB capabilities by employing cameras for 3D multi-sensor…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

This paper presents two trajectory Poisson multi-Bernoulli (TPMB) filters for multi-target tracking: one to estimate the set of alive trajectories at each time step and another to estimate the set of all trajectories, which includes alive…

Modern multi-object tracking (MOT) system usually involves separated modules, such as motion model for location and appearance model for data association. However, the compatible problems within both motion and appearance models are always…

This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed…

We propose FutrTrack, a modular camera-LiDAR multi-object tracking framework that builds on existing 3D detectors by introducing a transformer-based smoother and a fusion-driven tracker. Inspired by query-based tracking frameworks,…

Robust multi-object tracking (MOT) is a prerequisite fora safe deployment of self-driving cars. Tracking objects, however, remains a highly challenging problem, especially in cluttered autonomous driving scenes in which objects tend to…

The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…