Knowledge Commons of Institute of Automation,CAS
3D Single-Object Tracking with Spatial-Temporal Data Association | |
Zhang,Yongchang; He,Wenhao | |
2022-08-20 | |
会议名称 | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) |
会议日期 | 2022-8-20 |
会议地点 | 线上 |
摘要 | This paper proposes a novel 3D single-object tracker to more stably, accurately, and faster track objects, even if they are temporarily missed. Our idea is to utilize spatial-temporal data association to achieve object tracking robustly, and it consists of two main parts. We firstly employ a temporal motion model cross frames to estimate the object's temporal information and update the region of interest(ROI). The advanced detector only focuses on ROI rather than the whole scene to generate the spatial position. Second, we introduce a new pairwise evaluation system to exploit spatial-temporal data association in point clouds. The proposed evaluation system considers detection confidence, orientation offset, and objects distance to more stably achieve object matching. Then, we update the predicted state based on the pairwise spatial-temporal data. Finally, we utilize the previous trajectory to enhance the accuracy of static tracking in the refinement scheme. Experiments on the KITTI and nuScenes tracking datasets demonstrate that our method outperforms other state-of-the-art methods by a large margin (a 10\% improvement and 280 FPS on a single NVIDIA 1080Ti GPU). Compared with multi-object tracking, our tracker also has superiority. |
收录类别 | EI |
七大方向——子方向分类 | 三维视觉 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51700 |
专题 | 中科院工业视觉智能装备工程实验室_精密感知与控制 |
通讯作者 | He,Wenhao |
作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhang,Yongchang,He,Wenhao. 3D Single-Object Tracking with Spatial-Temporal Data Association[C],2022. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
IROS.pdf(1186KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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