Unmanned multi target tracking based on boundary IoU target association

Ke Xu, Linxi Hu, Wei Long, Linhua Jiang

Abstract


Aiming at the defects of target matching measurement and fixed life cycle management in traditional multi-target tracking, a target
association and adaptive life cycle management strategy based on boundary IoU is proposed. Boundary IoU takes into account the advantages
of Euclidean distance and IoU, which can improve the accuracy of target matching. The adaptive life cycle management correlates the target
trajectory confidence with the life cycle, which significantly reduces the target loss and trajectory false detection during the tracking process.
Experiments on KITTI multi-target tracking dataset demonstrate the effectiveness of the proposed method.

Keywords


Unmanned Driving; Lidar; 3D Target Detection; Iou Loss; Multi Target Tracking

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References


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DOI: https://doi.org/10.18686/esta.v10i6.665

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Copyright (c) 2023 Ke Xu,Linxi Hu,Wei Long,Linhua Jiang