Multi-Camera Multiple 3D Object Tracking on the Move for Autonomous Vehicles

Pha Nguyen, Kha Gia Quach, Chi Nhan Duong, Ngan Le, Xuan-Bac Nguyen, Khoa Luu; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2022, pp. 2569-2578

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as achieving consistent results across views of cameras. To address these challenges, this work presents a new Global Association Graph Model with Link Prediction approach to predict existing tracklets location and link detections with tracklets via cross-attention motion modeling and appearance re-identification. This approach aims at solving issues caused by inconsistent 3D object detection. Moreover, our model exploits to improve the detection accuracy of a standard 3D object detector in the nuScenes detection challenge. The experimental results on the nuScenes dataset demonstrate the benefits of the proposed method to produce SOTA performance on the existing vision-based tracking dataset.