Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties

Achim Kampker, Mohsen Sefati, Arya S. Abdul Rachman, Kai Kreisköther, Pascual Campoy

2018

Abstract

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance the vehicle perception. We present a real-time integrated framework of multi-target object detection and tracking using 3D LIDAR geared toward urban use. Our approach combines sensor occlusion-aware detection method with computationally efficient heuristics rule-based filtering and adaptive probabilistic tracking to handle uncertainties arising from sensing limitation of 3D LIDAR and complexity of the target object movement. The evaluation results using real-world pre-recorded 3D LIDAR data and comparison with state-of-the-art works shows that our framework is capable of achieving promising tracking performance in the urban situation.

Paper Citation

in Harvard Style

Kampker A., Sefati M., Abdul Rachman A., Kreisköther K. and Campoy P. (2018). Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties.In Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-293-6, pages 156-167. DOI: 10.5220/0006706101560167

in Bibtex Style

@conference{vehits18,
author={Achim Kampker and Mohsen Sefati and Arya S. Abdul Rachman and Kai Kreisköther and Pascual Campoy},
title={Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties},
booktitle={Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2018},
pages={156-167},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006706101560167},
isbn={978-989-758-293-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties
SN - 978-989-758-293-6
AU - Kampker A.
AU - Sefati M.
AU - Abdul Rachman A.
AU - Kreisköther K.
AU - Campoy P.
PY - 2018
SP - 156
EP - 167
DO - 10.5220/0006706101560167