{"title":"An improved deep learning architecture for multi-object tracking systems","authors":"Jesús Urdiales, David Martín, J. M. Armingol","doi":"10.3233/ica-230702","DOIUrl":null,"url":null,"abstract":"Robust and reliable 3D multi-object tracking (MOT) is essential for autonomous driving in crowded urban road scenes. In those scenarios, accurate data association between tracked objects and incoming new detections is crucial. This paper presents a tracking system based on the Kalman filter that uses a deep learning approach to the association problem. The proposed architecture consists of three neural networks. First, a convolutional LSTM network extracts spatiotemporal features from a sequence of detections of the same track. Then, a Siamese network calculates the degree of similarity between all tracks and the new detections found at each new frame. Finally, a recurrent LSTM network is used to extract 3D and bounding box information. This model follows the tracking-by-detection paradigm and has been trained with track sequences to be able to handle missed observations and to reduce identity switches. A validation test was carried out on the Argoverse dataset to validate the performance of the proposed system. The developed deep learning approach could improve current multi-object tracking systems based on classic algorithms like the Kalman filter.","PeriodicalId":50358,"journal":{"name":"Integrated Computer-Aided Engineering","volume":"6 1","pages":"121-134"},"PeriodicalIF":5.8000,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Integrated Computer-Aided Engineering","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.3233/ica-230702","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
引用次数: 1
Abstract
Robust and reliable 3D multi-object tracking (MOT) is essential for autonomous driving in crowded urban road scenes. In those scenarios, accurate data association between tracked objects and incoming new detections is crucial. This paper presents a tracking system based on the Kalman filter that uses a deep learning approach to the association problem. The proposed architecture consists of three neural networks. First, a convolutional LSTM network extracts spatiotemporal features from a sequence of detections of the same track. Then, a Siamese network calculates the degree of similarity between all tracks and the new detections found at each new frame. Finally, a recurrent LSTM network is used to extract 3D and bounding box information. This model follows the tracking-by-detection paradigm and has been trained with track sequences to be able to handle missed observations and to reduce identity switches. A validation test was carried out on the Argoverse dataset to validate the performance of the proposed system. The developed deep learning approach could improve current multi-object tracking systems based on classic algorithms like the Kalman filter.
期刊介绍:
Integrated Computer-Aided Engineering (ICAE) was founded in 1993. "Based on the premise that interdisciplinary thinking and synergistic collaboration of disciplines can solve complex problems, open new frontiers, and lead to true innovations and breakthroughs, the cornerstone of industrial competitiveness and advancement of the society" as noted in the inaugural issue of the journal.
The focus of ICAE is the integration of leading edge and emerging computer and information technologies for innovative solution of engineering problems. The journal fosters interdisciplinary research and presents a unique forum for innovative computer-aided engineering. It also publishes novel industrial applications of CAE, thus helping to bring new computational paradigms from research labs and classrooms to reality. Areas covered by the journal include (but are not limited to) artificial intelligence, advanced signal processing, biologically inspired computing, cognitive modeling, concurrent engineering, database management, distributed computing, evolutionary computing, fuzzy logic, genetic algorithms, geometric modeling, intelligent and adaptive systems, internet-based technologies, knowledge discovery and engineering, machine learning, mechatronics, mobile computing, multimedia technologies, networking, neural network computing, object-oriented systems, optimization and search, parallel processing, robotics virtual reality, and visualization techniques.