相关论文: RaTrack: Moving Object Detection and Tracking with…

Conventional radar segmentation research has typically focused on learning category labels for different moving objects. Although fundamental differences between radar and optical sensors lead to differences in the reliability of predicting…

Tracking of objects in 3D is a fundamental task in computer vision that finds use in a wide range of applications such as autonomous driving, robotics or augmented reality. Most recent approaches for 3D multi object tracking (MOT) from…

Reliable autonomous driving systems require accurate detection of traffic participants. To this end, multi-modal fusion has emerged as an effective strategy. In particular, 4D radar and LiDAR fusion methods based on multi-frame radar point…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

The complex dynamicity of open-world objects presents non-negligible challenges for multi-object tracking (MOT), often manifested as severe deformations, fast motion, and occlusions. Most methods that solely depend on coarse-grained object…

Multi-object tracking is an important ability for an autonomous vehicle to safely navigate a traffic scene. Current state-of-the-art follows the tracking-by-detection paradigm where existing tracks are associated with detected objects…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

In recent years, the joint detection-and-tracking paradigm has been a very popular way of tackling the multi-object tracking (MOT) task. Many of the methods following this paradigm use the object center keypoint for detection. However, we…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

The awareness about moving objects in the surroundings of a self-driving vehicle is essential for safe and reliable autonomous navigation. The interpretation of LiDAR and camera data achieves exceptional results but typically requires to…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

3D multi-object tracking in LiDAR point clouds is a key ingredient for self-driving vehicles. Existing methods are predominantly based on the tracking-by-detection pipeline and inevitably require a heuristic matching step for the detection…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

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…

Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects across video frames. Detection boxes serve as the basis of both 2D and 3D MOT. The inevitable changing of detection scores leads to object missing after…

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…

3D single object tracking plays an essential role in many applications, such as autonomous driving. It remains a challenging problem due to the large appearance variation and the sparsity of points caused by occlusion and limited sensor…

3D single object tracking (SOT) is an important and challenging task for the autonomous driving and mobile robotics. Most existing methods perform tracking between two consecutive frames while ignoring the motion patterns of the target over…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…