GNN-PMB: A Simple but Effective Online 3D Multi-Object Tracker without Bells and Whistles

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GNN-PMB: A Simple but Effective Online 3D Multi-Object Tracker without Bells and Whistles

Liu, Jianan (author)

Bai, Liping (author): Beihang University

Xia, Yuxuan, 1993 (author): Chalmers tekniska högskola,Chalmers University of Technology

Huang, Tao (author): James Cook University

Zhu, Bing (author): Beihang University

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(creator_code:org_t)

2023
2023
English.
In: IEEE Transactions on Intelligent Vehicles. - 2379-8858. ; 8:2, s. 1176-1189

Related links:: https://doi.org/10.1...; show more...; https://research.cha...; show less...

Journal article (peer-reviewed)

Abstract Subject headings

Multi-object tracking (MOT) is among crucial applications in modern advanced driver assistance systems (ADAS) and autonomous driving (AD) systems. The global nearest neighbor (GNN) filter, as the earliest random vector-based Bayesian tracking framework, has been adopted in most of state-of-the-arts trackers in the automotive industry. The development of random finite set (RFS) theory facilitates a mathematically rigorous treatment of the MOT problem, and different variants of RFS-based Bayesian filters have then been proposed. However, their effectiveness in the real ADAS and AD application is still an open problem. In this paper, it is demonstrated that the latest RFS-based Bayesian tracking framework could be superior to typical random vector-based Bayesian tracking framework via a systematic comparative study of both traditional random vector-based Bayesian filters with rule-based heuristic track maintenance and RFS-based Bayesian filters on the nuScenes validation dataset. An RFS-based tracker, namely Poisson multi-Bernoulli filter using the global nearest neighbor (GNN-PMB), is proposed to LiDAR-based MOT tasks. This GNN-PMB tracker is simple to use, and it achieves competitive results on the nuScenes dataset. Specifically, the proposed GNN-PMB tracker outperforms most state-of-the-art LiDAR-only trackers and LiDAR and camera fusion-based trackers, ranking the $3^{rd}$ among all LiDAR-only trackers on nuScenes 3D tracking challenge leader board 1 1 https://bit.ly/3bQJ2CP at the time of submission. Our code is available at https://github.com/chisyliu/GnnPmbTracker .

Subject headings

NATURVETENSKAP -- Data- och informationsvetenskap -- Programvaruteknik (hsv//swe)
NATURAL SCIENCES -- Computer and Information Sciences -- Software Engineering (hsv//eng)
TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Inbäddad systemteknik (hsv//swe)
ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Embedded Systems (hsv//eng)
NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)

Keyword

Laser radar
Multi-object tracking
Radar tracking
Bayes methods
Detectors
GNN-PMB
random finite set-based Bayesian filters
Three-dimensional displays
random vector-based Bayesian filters
autonomous driving
Cameras
LiDAR
Feature extraction

Publication and Content Type

art (subject category)
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By the author/editor: Liu, Jianan; Bai, Liping; Xia, Yuxuan, 199 ...; Huang, Tao; Zhu, Bing

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NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Software Enginee ...

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Embedded Systems

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Vision ...

Articles in the publication: IEEE Transaction ...

By the university: Chalmers University of Technology

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