Paper Info
Title
Improved Data Association Of Hypothesis-Based Trackers Using Fast And Robust Object Initialization
Abstract
The tracking of Vulnerable Road Users (VRU) is one of the vital tasks of autonomous cars. This includes estimating the positions and velocities of VRUs surrounding a car. To do this, VRU trackers must utilize measurements that are received from sensors. However, even the most accurate VRU trackers are affected by measurement noise, background clutter, and VRUs' interaction and occlusion. Such uncertainties can cause deviations in sensors' data association, thereby leading to dangerous situations and potentially even the failure of a tracker. The initialization of a data association depends on various parameters. This paper proposes steps to reveal the trade-offs between stochastic model parameters to improve data association's accuracy in autonomous cars. The proposed steps can reduce the number of false tracks; besides, it is independent of variations in measurement noise and the number of VRUs. Our initialization can reduce the lag between the first detection and initialization of the VRU trackers. As a proof of concept, the procedure is validated using experiments, simulation data, and the publicly available KITTI dataset. Moreover, we compared our initialization method with the most popular approaches that were found in the literature. The results showed that the tracking precision and accuracy increase to 3.6% with the proposed initialization as compared to the state-of-the-art algorithms in tracking VRU.
Year
DOI
Venue
2021
10.3390/s21093146
SENSORS
Keywords
DocType
Volume
initialization, data association, hypothesis tree, tracking, autonomous cars, accuracy
Journal
21
Issue
ISSN
Citations 
9
1424-8220
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Marzieh Dolatabadi100.68
Jos Elfring200.68
René van de Molengraft300.34