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Roberto D. Henschel - Higher-Order Multiple Object Tracking

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Roberto D. Henschel

Higher-Order Multiple Object Tracking

Series: Informatik/ Kommunikation

Volume 875 2021

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Titelei/Inhaltsverzeichnis

„… camera-based offline multiple object tracking and explores higher-order data association models. Due to their …” „… globally fuse signals within a higher-order data association model. This enables to overcome weaknesses …” „… presents more robust tracking methods by using higher-order data association models (higher-order multiple …”

Introduction S. 1-32

„… these steps. The last step is typically computed within a data association graph5 that models all …” „… deteriorates due to an oversimplified model. Higher-order MOT. More expressive MOT models exploit not only the …” „… 4.3 f f + 1 f + 2 (b) Figure 1.7: Optimal trajectories according to different data association models …”

Conclusions S. 165-171

„… this end, a novel data association model, called Lifted Disjoint Paths (LDP), is introduced which …” „… . (iii) Ensuring temporal consistency within the data association is difficult due to the limited …” „… connectivity priors and higher-order consistencies. A global optimal solver for the problem is proposed, making …”

HO-MOT with Signal Fusion S. 80-129

„… advantages of both sensors. The solutions are obtained from a higher-order data association model using a …” „… per-person consistency is not considered. 3.2.2 Data association model for signal fusion The data association …” „… benchmark and 1st on the MOT17 benchmark, outperforming over 90 trackers. 3.4.1 Data association model Let V …”

Lifted Disjoint Paths S. 130-164

„… chapter demonstrates that a powerful data association model with a global optimal solver helps to …” „… argue that the lifted disjoint paths problem is an appropriate way of modeling the data association …” „… higher-order consistencies while avoiding suboptimal choices during optimization. To this end, an extension to …”

Bibliography S. 172-196

„… Betke. “Coupling detection and data association for multiple object tracking”. In: The IEEE Conference …” „… ). Springer. 2020. [61] Li Zhang, Yuan Li, and Ramakant Nevatia. “Global data association for multiobject …” „… and Amir Globerson. “Higher order matching for consistent multiple target tracking”. In: Proceedings …”

Fundamentals S. 33-79

„… and derive solutions for the data association, this section introduces the remaining aspects of a …” „… allows comparing among different trackers the improvement due to the data association. The aim of an …” „… number of training data. Supervised learning also enables modelling that there is uncertainty in the …”

doi.org/10.51202/9783186875105

Michael Aeberhard - Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

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Michael Aeberhard

Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 804 2017

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Conclusion and Discussion S. 152-154

„… architecture with a high-level, or object-level, approach for model-based object detection. The goal was to …” „… and presented a novel high-level sensor data fusion architecture which was developed within this …” „… applications. The analysis of the different sensor data fusion architectures showed that the high-level fusion …”

Sensor Data Fusion Architectures S. 27-45

„… object association and fusion process can become more challenging in a high-level sensor data fusion …” „… independently processes its data in order to produce an object list, as defined by the object model. At the …” „… novel sensor data fusion architecture for model-based object detection is proposed, designed to be …”

Fusion Strategy and Object Association S. 46-63

„… challenging problem in object tracking is the problem of data association. In the proposed high-level sensor …” „… high-level sensor data fusion architecture, each sensor produces an object list of the detected objects …” „… reference frame. Second, in which order and how sensor data is fused together to generate fused global …”

State and Covariance S. 64-92

„… association between objects at the fusion-level in a high-level sensor data fusion architecture is covered in …” „… algorithms and their results. Furthermore, the problem of data association is omitted in order to focus on …” „… , algorithms for track estimation within the proposed high-level sensor data fusion architecture at the sensor …”

Titelei/Inhaltsverzeichnis

„… in order to realize an effective method for sensor data fusion. A scalable high-level fusion …” „… dynamic objects is presented in order to realize an effective method for sensor data fusion. A scalable …” „… high-level fusion architecture is developed for fusing object data from several sensors in a single system …”

Evaluation S. 133-151

„… data fusion architecture and the developed algorithms provide a solid platform for model-based object …” „… 7 Evaluation The proposed high-level sensor data fusion architecture presented in the previous …” „… production vehicles for Active Cruise Control (ACC). In order to achieve high reliability in object …”

Introduction S. 1-26

„… . . . Sensor N Sensor Data Fusion Application 1 . . . Application N Environment Model (b) Figure 1.1: Basic …” „… vehicle’s architecture [124, 127, 227]. The environment model combines the data from many sensors and …” „… estimating the environment model conditioned on the previous estimation and current measurement data: p(E(t …”

Classification S. 116-132

„… which operates on the input feature space in order to transform the data into a higher dimensional …” „… order to separate data into various classes. A familiar model is to use a Gaussian distribution to …” „… model the posterior probability that a data point does not belong to any of the modeled classes, which …”

Existence Probability S. 93-115

„… Integrated Probabilistic Data Association (IPDA) algorithm [216, 217], where data existence estimation is …” „… integrated with a probabilistic data association algorithm. This approach was later further developed into …” „… the Joint Integrated Probabilistic Data Association (JIPDA) algorithm [215]. For automotive …”

References S. 172-202

„… Under Clutter Using Generalized Probabilistic Data Association,” in IEEE Intelligent Transportation …” „… ] Bar-Shalom, Y., Daum, F., and Huang, J., “The Probabilistic Data Association Filter,” IEEE Control Systems …” „… with Probabilistic Data Association,” Automatica, vol. 11, no. 5, pp. 451–460, September 1975. [28 …”

doi.org/10.51202/9783186804129

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VDI Wissensforum GmbH (ed.)

ELIV 2021

Series: VDI-Berichte

Volume 2384 2021

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C. Cremers, P. Hubertus, R. Laszlo, M. Pfeifle, O. Muratov Augmented Reality Guidance based on 6D Positioning and HD Lanes S. 367-380

„… The Road Model layer of the HD Live Map provides data farther than the sensors can see. It also …” „… road-level attributes. The HD Lane Model layer contains lane topology data and lane-level attributes as …” „… adjustment re-evaluates error by sampling the image, which leads to robustness against bad data association …”

K. Renatus, A. Unger, B. Baker, O. Manicke Machine learning approach towards remote diagnostics and repair of electric vehicle charging processes S. 163-174

„… hardware-in-the-loop tests either representing real ECUs or rest-bus models. In order to sufficiently reproduce …” „… work it is initially assumed that virtual models of EV and EVSE are available as well as suitable data …” „… be divided into model-based and model-free algorithms, regarding the presence of an environmental …”

S. Alexander, F. Borrelli, M. Pfeifle Real-time Contextual Intelligence Services for Connected Electrified Vehicles S. 509-522

„… in the AI/ML space are data inefficient, extrapolate poorly, and are fragile. The use of model-free …” „… context-aware E-Mobility, which is highly accurate, data efficient and real-time capable. High precision is …” „… , sensors and underlying vehicular systems; (2) data-driven models of driver’s and passengers’ behavior …”

T. Fricke, F. Schuck, J. Vogelpoh, J. Ax, R. Stolpe, H. Amelunxen Collaborative Development of a Test Environment for Automated Driving S. 5-16

„… , physical sensor characteristics and all relevant data bus communication with a higher maturity and …” „… generated data, e.g. by integrating the tier 1 supplier’s own sensor models before the raw sensor data is …” „… : http://fmi-standard.org/ [8] Navigation Data Standard homepage: https://nds-association.org/ [9] ASAM OpenDRIVE homepage …”

F. A. Schiegg, I. Llatser, H. Tchouankem, T. Frye, F. Wildschutte, F. Hofmann Removing Blind Spots – Infrastructure-assisted Collective Perception S. 29-44

„… incorporated into the vehicle’s environmental model, eventually combining the object data with that obtained …” „… the detected object data [21], leading to a higher reliability. The exchange of object data is done …” „… urban intersection. For this purpose, data for a high-resolution multimodal environment detection are …”

M. Gresser, M. Mende, M. D. Rabe, B. Baker, A. Unger Graph-based Vehicle Diagnostics using Machine Learning S. 131-142

„… data (for example [8]). A high-level node representation is received through multiple graph …” „… ). The latter is a model-based fault diagnosis method and uses prior knowledge to diagnose faults …” „… knowledge from experts and empirical data from the field. By combining present knowledge and data more …”

A. Hohm, B. Hartmann, S. Khodaverdian, D. Bosch, B. Lattke, P. Keck The Evolution of Automation in Parking – Assisted, Automated, Autonomous S. 61-74

„… . These functions can be scaled by different approaches with a higher usage of in-car technology on one …” „… hand and a higher usage of infrastructure technology on the other hand. Parking automation today …” „… VDI-Berichte Nr. 2384, 202162 additional use of camera systems. For redundancy reasons, higher automation …”

doi.org/10.51202/9783181023846

Sascha Steyer - Grid-Based Object Tracking

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Sascha Steyer

Grid-Based Object Tracking

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1272 2021

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Introduction S. 1-12

„… and the corresponding data association. However, due to its high computational complexity, this …” „… to model. Overall, data association challenges remain when there are association ambiguities between …” „… time including data association and recursive state estimation. In addition, it is crucial to fuse …”

Object Extraction and Association S. 79-100

„… , so that a lower association probability requires a higher certainty that a cell is occupied in order …” „… object estimation over time, requiring an association between current measurement data and the predicted …” „… probability data association (JPDA) is used. Extracting object hypotheses by clustering dynamic grid cells is …”

Conclusion S. 165-168

„… sensor data fusion, temporal filtering of the dynamic grid mapping, object extraction and association …” „… mapping, data association, and object tracking, which overall significantly improve the perception …” „… the generally high scenario complexity of unstructured dynamic environments. Therefore, an accurate …”

Measurement Grid Representation and Fusion S. 13-38

„… data association and fusion by a cell-wise processing, which is a generic and robust approach since no …” „… vertical layers. (b) Measurement data of the high-mounted lidar sensor with a high vertical resolution. The …” „… sensor. sensor data, meaning that the fusion has to wait for the sensor data with the highest latency …”

Object State Estimation S. 101-126

„… , generally directly depend on the input data and the different processing steps as well as their order. As …” „… estimation of an object with measurement data modeled by the dynamic grid representation. The object position …” „… inverse sensor model of the length is modeled as a piecewise function p(lτ | zgτ,t) ∝ exp ( −(lτ − zlτ,t …”

Evaluation S. 127-164

„… measurement data to tracked object instances is thereby achieved using the particle labeling association …” „… sensor data. Association for Densely Moving Traffic Participants and Occurring Occlusion A challenging …” „… position updates, e.g., due to an incorrect association, but in that highly nonlinear case it causes a high …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… same cell represents a high occupancy probability. Assuming noise-free measurement data, this …” „… share common higher-level data, such as a semantic label or an object identifier, and are …” „… thus be modeled by {F,D}. Overall, the superset {S,D} primarily models measured occupancy at a single …”

doi.org/10.51202/9783186272089

Matthias Schreiner - Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

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Matthias Schreiner

Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 797 2016

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Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… measurement models and low clutter scenarios. • Probabilistic Data Association Filters (PDAF) [15, 19] are …” „… , which, in this particular form, is known as a first-order Hidden Markov Model5 (HMM) [203 …” „… first-order Markov process similar to that higher-order differential equations can always be reformulated as …”

Environment Representations for ADAS S. 6-17

„… . On the downside, less abstract models have higher transmission bandwidth requirements and, even more …” „… contrast, the higher the abstraction level of an environment model, the fewer details are preserved. Hence …” „… low data rate busses or vehicle-to-vehicle communication interfaces. These high bandwidth requirements …”

Bibliography S. 221-254

„… J. Huang. The Probabilistic Data Association Filter. IEEE Control Systems Magazine, 29(6):82–100 …” „… , Dec. 2009. [16] Y. Bar-Shalom and T. E. Fortmann. Tracking and Data Association, volume 179 of …” „… Control, 33(8):780–783, Aug. 1988. [37] H. A. P. Blom and E. A. Bloem. Probabilistic Data Association …”

Grid Mapping in Dynamic Environments S. 67-102

„… the same object, in order to bridge invisible object areas. This rectangle shape model assumption7 is …” „… r, the consistent models explain the measurement much better. This results in a higher mode …” „… ), which perform data association jointly over all tracks, are, however, not necessary as track gates in …”

Parametric Free Space Maps S. 103-131

„… location of the boundary tracing starting point of the last time step to prevent wrong data associations …” „… object abstraction of dynamic entities additionally allows model-based predictions based on the object …” „… models relevant free space by a combination of a parametric curve and geometric primitives as shown in …”

doi.org/10.51202/9783186797124

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