相关论文: Transformers for Multi-Object Tracking on Point Cl…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

Multi-sensor perception is crucial to ensure the reliability and accuracy in autonomous driving system, while multi-object tracking (MOT) improves that by tracing sequential movement of dynamic objects. Most current approaches for…

Transformers have proven superior performance for a wide variety of tasks since they were introduced. In recent years, they have drawn attention from the vision community in tasks such as image classification and object detection. Despite…

The goal of multi-object tracking is to detect and track all objects in a scene while maintaining unique identifiers for each, by associating their bounding boxes across video frames. This association relies on matching motion and…

Tracking 3D objects is an important task in autonomous driving. Classical Kalman Filtering based methods are still the most popular solutions. However, these methods require handcrafted designs in motion modeling and can not benefit from…

Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribution shift, i.e. environmental, robot or…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

In this paper, we propose a robust 3D detector, named Cross Modal Transformer (CMT), for end-to-end 3D multi-modal detection. Without explicit view transformation, CMT takes the image and point clouds tokens as inputs and directly outputs…

Online 3D multi-object tracking (MOT) has witnessed significant research interest in recent years, largely driven by demand from the autonomous systems community. However, 3D offline MOT is relatively less explored. Labeling 3D trajectory…

This paper presents a robust multi-class multi-object tracking (MCMOT) formulated by a Bayesian filtering framework. Multi-object tracking for unlimited object classes is conducted by combining detection responses and changing point…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

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…

Estimating the states of surrounding traffic participants stays at the core of autonomous driving. In this paper, we study a novel setting of this problem: model-free single-object tracking (SOT), which takes the object state in the first…

Correlation acts as a critical role in the tracking field, especially in recent popular Siamese-based trackers. The correlation operation is a simple fusion manner to consider the similarity between the template and the search region.…

Multiple object tracking (MOT) is a significant task in achieving autonomous driving. Traditional works attempt to complete this task, either based on point clouds (PC) collected by LiDAR, or based on images captured from cameras. However,…

Multiple object tracking (MOT) tends to become more challenging when severe occlusions occur. In this paper, we analyze the limitations of traditional Convolutional Neural Network-based methods and Transformer-based methods in handling…

Multiple object tracking (MOT) is the task containing detection and association. Plenty of trackers have achieved competitive performance. Unfortunately, for the lack of informative exchange on these subtasks, they are often biased toward…

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,…

3D multi-object tracking (MOT) is a key problem for autonomous vehicles, required to perform well-informed motion planning in dynamic environments. Particularly for densely occupied scenes, associating existing tracks to new detections…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…