Independently Moving Object Trajectories from Sequential Hierarchical Ransac

Mikael Persson, Per-Erik Forssén

2021

Abstract

Safe robot navigation in a dynamic environment, requires the trajectories of each independently moving object (IMO). We present the novel and effective system Sequential Hierarchical Ransac Estimation (Shire) designed for this purpose. The system uses a stereo camera stream to find the objects and trajectories in real time. Shire detects moving objects using geometric consistency and finds their trajectories using bundle adjustment. Relying on geometric consistency allows the system to handle objects regardless of semantic class, unlike approaches based on semantic segmentation. Most Visual Odometry (VO) systems are inherently limited to single motion by the choice of tracker. This limitation allows for efficient and robust ego-motion estimation in real time, but preclude tracking the multiple motions sought. Shire instead uses a generic tracker and achieves accurate VO and IMO estimates using track analysis. This removes the restriction to a single motion while retaining the real-time performance required for live navigation. We evaluate the system by bounding box intersection over union and ID persistence on a public dataset, collected from an autonomous test vehicle driving in real traffic. We also show the velocities of estimated IMOs. We investigate variations of the system that provide trade offs between accuracy, performance and limitations.

Paper Citation

in Harvard Style

Persson M. and Forssén P. (2021). Independently Moving Object Trajectories from Sequential Hierarchical Ransac. In Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP; ISBN 978-989-758-488-6, SciTePress, pages 722-731. DOI: 10.5220/0010253407220731

in Bibtex Style

@conference{visapp21,
author={Mikael Persson and Per-Erik Forssén},
title={Independently Moving Object Trajectories from Sequential Hierarchical Ransac},
booktitle={Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP},
year={2021},
pages={722-731},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010253407220731},
isbn={978-989-758-488-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP
TI - Independently Moving Object Trajectories from Sequential Hierarchical Ransac
SN - 978-989-758-488-6
AU - Persson M.
AU - Forssén P.
PY - 2021
SP - 722
EP - 731
DO - 10.5220/0010253407220731
PB - SciTePress