相关论文: OptiPMB: Enhancing 3D Multi-Object Tracking with O…

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single…

The growing proliferation of unmanned aerial vehicles (UAVs) poses major challenges for reliable airspace surveillance, as drones are typically small, have low radar cross-sections, and often move slowly in cluttered environments. These…

The Poisson multi-Bernoulli mixture (PMBM) filter is conjugate prior composed of the union of a Poisson point process (PPP) and a multi-Bernoulli mixture (MBM). In this paper, a new PMBM filter for tracking multiple targets with randomly…

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…

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…

3D multi-object tracking and trajectory prediction are two crucial modules in autonomous driving systems. Generally, the two tasks are handled separately in traditional paradigms and a few methods have started to explore modeling these two…

In many multiobject tracking applications, including radar and sonar tracking, after prefiltering the received signal, measurement data is typically structured in cells. The cells, e.g., represent different range and bearing values.…

Multiple Object Tracking (MOT) is crucial to autonomous vehicle perception. End-to-end transformer-based algorithms, which detect and track objects simultaneously, show great potential for the MOT task. However, most existing methods focus…

With the prevalence of LiDAR sensors in autonomous driving, 3D object tracking has received increasing attention. In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in consecutive frames…

3D multi-object tracking is a key module in autonomous driving applications that provides a reliable dynamic representation of the world to the planning module. In this paper, we present our on-line tracking method, which made the first…

Multi-object tracking (MOT) and trajectory prediction are two critical components in modern 3D perception systems that require accurate modeling of multi-agent interaction. We hypothesize that it is beneficial to unify both tasks under one…

Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects…

This paper proposes an efficient implementation of the Poisson multi-Bernoulli mixture (PMBM) trajectory filter. The proposed implementation performs track-oriented N-scan pruning to limit complexity, and uses dual decomposition to solve…

This paper considers multiple extended object tracking based on Poisson multi-Bernoulli mixture (PMBM) filtering, which gives the closed-form Bayesian solution for standard multiple extended object models with Poisson birth. To efficiently…

3D multi-object tracking (MOT) is an essential component for many applications such as autonomous driving and assistive robotics. Recent work on 3D MOT focuses on developing accurate systems giving less attention to practical considerations…

Algorithmic solutions for multi-object tracking (MOT) are a key enabler for applications in autonomous navigation and applied ocean sciences. State-of-the-art MOT methods fully rely on a statistical model and typically use preprocessed…

Multiobject tracking provides situational awareness that enables new applications for modern convenience, applied ocean sciences, public safety, and homeland security. In many multiobject tracking applications, including radar and sonar…

Visual object tracking, which is primarily based on visible light image sequences, encounters numerous challenges in complicated scenarios, such as low light conditions, high dynamic ranges, and background clutter. To address these…

The Poisson multi-Bernoulli mixture (PMBM) is a multi-target distribution for which the prediction and update are closed. By applying the random finite set (RFS) framework to multi-target tracking with sets of trajectories as the variable…

This paper presents a fast and modular framework for Multi-Object Tracking (MOT) based on the Markov descision process (MDP) tracking-by-detection paradigm. It is designed to allow its various functional components to be replaced by…