Abstract
Multiple Object Tracking is an important task for autonomous vehicles. However, it gets difficult to track objects when it is hard to detect them due to occlusion or distance to the sensors. We propose a method, “GridTrack”, to overcome this difficulty. We fuse a dynamic occupancy grid map (DOGMa) with an object detector. DOGMa is obtained by applying a Bayesian filter on raw sensor data. This improves the tracking of the partially observed/unobserved objects with the help of the Bayesian filter on raw data, which has a powerful prediction capability. We develop a network to track the objects on the grid and fuse information from previous detections in this network. The experiments show that the multi-object tracking accuracy is high with the usage of the proposed method.
This work was supported by Toyota Motor Europe.
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Acknowledgment
We thank Gabriel Othmezouri, Jérôme Lussereau and Lukas Rummelhard for their assistance in this study. Parts of the experiments presented in this paper were carried out using the Grid’5000 testbed, supported by a scientific interest group hosted by Inria and including CNRS, RENATER and several Universities as well as other organizations (see https://www.grid5000.fr).
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Erkent, Ö., Gonzalez, D.S., Paigwar, A., Laugier, C. (2021). GridTrack: Detection and Tracking of Multiple Objects in Dynamic Occupancy Grids. In: Vincze, M., Patten, T., Christensen, H.I., Nalpantidis, L., Liu, M. (eds) Computer Vision Systems. ICVS 2021. Lecture Notes in Computer Science(), vol 12899. Springer, Cham. https://doi.org/10.1007/978-3-030-87156-7_15
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