TY - GEN
T1 - Stereo-Camera 3D Multi-Object Tracking Based on Optimized PMBM Algorithm
AU - Han, Jingyuan
AU - Liu, Wenbin
AU - Liu, Tong
AU - Ren, Bohan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Multi-object tracking technology is a key technology for environment perception of autonomous vehicles. In this paper, we propose a 3D multi-object tracking method based on PMBM filter with binocular images as input. The algorithm uses stereo camera to obtain the positions of multiple objects in the scene and track them. To run the tracking method online requires a detection method with high real-time performance, but higher speed 3D detection algorithm has poorer performance in the detection, the change of illumination and object occlusion will lead to frequent missed detection. To address this problem, we added tracking feedback correction to the original PMBM filter and optimized the object born and death models of the original algorithm. Our tracking algorithm was evaluated on the public dataset KITTI, proving that it can accurately track objects in a variety of urban environments.
AB - Multi-object tracking technology is a key technology for environment perception of autonomous vehicles. In this paper, we propose a 3D multi-object tracking method based on PMBM filter with binocular images as input. The algorithm uses stereo camera to obtain the positions of multiple objects in the scene and track them. To run the tracking method online requires a detection method with high real-time performance, but higher speed 3D detection algorithm has poorer performance in the detection, the change of illumination and object occlusion will lead to frequent missed detection. To address this problem, we added tracking feedback correction to the original PMBM filter and optimized the object born and death models of the original algorithm. Our tracking algorithm was evaluated on the public dataset KITTI, proving that it can accurately track objects in a variety of urban environments.
KW - 3D multi-object tracking
KW - Abstract-Stereo camera
KW - PMBM filter
KW - object detection and tracking
UR - http://www.scopus.com/inward/record.url?scp=85189320135&partnerID=8YFLogxK
U2 - 10.1109/CAC59555.2023.10450667
DO - 10.1109/CAC59555.2023.10450667
M3 - Conference contribution
AN - SCOPUS:85189320135
T3 - Proceedings - 2023 China Automation Congress, CAC 2023
SP - 2317
EP - 2322
BT - Proceedings - 2023 China Automation Congress, CAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 China Automation Congress, CAC 2023
Y2 - 17 November 2023 through 19 November 2023
ER -