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| Main Authors: | , , , , |
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| Format: | Preprint |
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2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2406.01380 |
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| _version_ | 1866913499899232256 |
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| author | Liu, Shiqi Cao, Wenhan Liu, Chang Zhang, Tianyi Li, Shengbo Eben |
| author_facet | Liu, Shiqi Cao, Wenhan Liu, Chang Zhang, Tianyi Li, Shengbo Eben |
| contents | Multi-object tracking (MOT) is an essential technique for navigation in autonomous driving. In tracking-by-detection systems, biases, false positives, and misses, which are referred to as outliers, are inevitable due to complex traffic scenarios. Recent tracking methods are based on filtering algorithms that overlook these outliers, leading to reduced tracking accuracy or even loss of the objects trajectory. To handle this challenge, we adopt a probabilistic perspective, regarding the generation of outliers as misspecification between the actual distribution of measurement data and the nominal measurement model used for filtering. We further demonstrate that, by designing a convolutional operation, we can mitigate this misspecification. Incorporating this operation into the widely used unscented Kalman filter (UKF) in commonly adopted tracking algorithms, we derive a variant of the UKF that is robust to outliers, called the convolutional UKF (ConvUKF). We show that ConvUKF maintains the Gaussian conjugate property, thus allowing for real-time tracking. We also prove that ConvUKF has a bounded tracking error in the presence of outliers, which implies robust stability. The experimental results on the KITTI and nuScenes datasets show improved accuracy compared to representative baseline algorithms for MOT tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_01380 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Convolutional Unscented Kalman Filter for Multi-Object Tracking with Outliers Liu, Shiqi Cao, Wenhan Liu, Chang Zhang, Tianyi Li, Shengbo Eben Computer Vision and Pattern Recognition Applications Multi-object tracking (MOT) is an essential technique for navigation in autonomous driving. In tracking-by-detection systems, biases, false positives, and misses, which are referred to as outliers, are inevitable due to complex traffic scenarios. Recent tracking methods are based on filtering algorithms that overlook these outliers, leading to reduced tracking accuracy or even loss of the objects trajectory. To handle this challenge, we adopt a probabilistic perspective, regarding the generation of outliers as misspecification between the actual distribution of measurement data and the nominal measurement model used for filtering. We further demonstrate that, by designing a convolutional operation, we can mitigate this misspecification. Incorporating this operation into the widely used unscented Kalman filter (UKF) in commonly adopted tracking algorithms, we derive a variant of the UKF that is robust to outliers, called the convolutional UKF (ConvUKF). We show that ConvUKF maintains the Gaussian conjugate property, thus allowing for real-time tracking. We also prove that ConvUKF has a bounded tracking error in the presence of outliers, which implies robust stability. The experimental results on the KITTI and nuScenes datasets show improved accuracy compared to representative baseline algorithms for MOT tasks. |
| title | Convolutional Unscented Kalman Filter for Multi-Object Tracking with Outliers |
| topic | Computer Vision and Pattern Recognition Applications |
| url | https://arxiv.org/abs/2406.01380 |