87 research outputs found
A fast multi-object tracking system using an object detector ensemble
Multiple-Object Tracking (MOT) is of crucial importance for applications such
as retail video analytics and video surveillance. Object detectors are often
the computational bottleneck of modern MOT systems, limiting their use for
real-time applications. In this paper, we address this issue by leveraging on
an ensemble of detectors, each running every f frames. We measured the
performance of our system in the MOT16 benchmark. The proposed model surpassed
other online entries of the MOT16 challenge in speed, while maintaining an
acceptable accuracy.Comment: 5 pages, 4 figures, 1 table, published in 2019 IEEE Colombian
Conference on Applications in Computational Intelligence (ColCACI
Multi-Object Tracking System based on LiDAR and RADAR for Intelligent Vehicles applications
El presente Trabajo Fin de Grado tiene como objetivo el desarrollo de un Sistema de Detección y
Multi-Object Tracking 3D basado en la fusión sensorial de LiDAR y RADAR para aplicaciones
de conducción autónoma basándose en algoritmos tradicionales de Machine Learning. La implementación
realizada está basada en Python, ROS y cumple requerimientos de tiempo real.
En la etapa de detección de objetos se utiliza el algoritmo de segmentación del plano RANSAC,
para una posterior extracción de Bounding Boxes mediante DBSCAN. Una Late Sensor Fusion
mediante Intersection over Union 3D y un sistema de tracking BEV-SORT completan la arquitectura
propuesta.This Final Degree Project aims to develop a 3D Multi-Object Tracking and Detection System
based on the Sensor Fusion of LiDAR and RADAR for autonomous driving applications based
on traditional Machine Learning algorithms. The implementation is based on Python, ROS and
complies with real-time requirements. In the Object Detection stage, the RANSAC plane segmentation
algorithm is used, for a subsequent extraction of Bounding Boxes using DBSCAN.
A Late Sensor Fusion using Intersection over Union 3D and a BEV-SORT tracking system complete
the proposed architecture.Grado en Ingeniería en Electrónica y Automática Industria
Multi-Object Tracking with Interacting Vehicles and Road Map Information
In many applications, tracking of multiple objects is crucial for a
perception of the current environment. Most of the present multi-object
tracking algorithms assume that objects move independently regarding other
dynamic objects as well as the static environment. Since in many traffic
situations objects interact with each other and in addition there are
restrictions due to drivable areas, the assumption of an independent object
motion is not fulfilled. This paper proposes an approach adapting a
multi-object tracking system to model interaction between vehicles, and the
current road geometry. Therefore, the prediction step of a Labeled
Multi-Bernoulli filter is extended to facilitate modeling interaction between
objects using the Intelligent Driver Model. Furthermore, to consider road map
information, an approximation of a highly precise road map is used. The results
show that in scenarios where the assumption of a standard motion model is
violated, the tracking system adapted with the proposed method achieves higher
accuracy and robustness in its track estimations
Real-Time Bird's Eye View Multi-Object Tracking system based on Fast Encoders for object detection
2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), September 20-23, 2020, Rhodes, Greece. Virtual Conference.This paper presents a Real-Time Bird’s Eye View
Multi Object Tracking (MOT) system pipeline for an Autonomous Electric car, based on Fast Encoders for object
detection and a combination of Hungarian algorithm and
Bird’s Eye View (BEV) Kalman Filter, respectively used for
data association and state estimation. The system is able to
analyze 360 degrees around the ego-vehicle as well as estimate
the future trajectories of the environment objects, being the
essential input for other layers of a self-driving architecture,
such as the control or decision-making. First, our system
pipeline is described, merging the concepts of online and realtime DATMO (Deteccion and Tracking of Multiple Objects),
ROS (Robot Operating System) and Docker to enhance the
integration of the proposed MOT system in fully-autonomous
driving architectures. Second, the system pipeline is validated
using the recently proposed KITTI-3DMOT evaluation tool that
demonstrates the full strength of 3D localization and tracking
of a MOT system. Finally, a comparison of our proposal with
other state-of-the-art approaches is carried out in terms of
performance by using the mainstream metrics used on MOT
benchmarks and the recently proposed integral MOT metrics,
evaluating the performance of the tracking system over all
detection thresholds.Ministerio de Ciencia, Innovación y UniversidadesComunidad de Madri
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