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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

„… , in particular the detection and tracking of moving objects in the context of automated driving. This …” „… measurement data by specific features. A robust object tracking further requires a temporal filtering over …” „… , but focus is also given on the subsequent high-level abstraction and tracking of moving objects …”

Conclusion S. 165-168

„… Object Tracking – a novel environment perception strategy that combines a multi-sensor multi-object …” „… perception applications. The implemented algorithm is actively used for the multi-sensor object tracking and …” „… of autonomous driving. As part of the grid-based object tracking strategy, the different aspects of …”

Bibliography S. 170-186

„… . Asvadi, P. Peixoto, and U. Nunes. Detection and Tracking of Moving Objects Using 2.5D Motion Grids. In …” „… . Effertz. Improved object tracking from detailed shape estimation using object local grid maps with stereo …” „… . Henriques, A. Vedaldi, and P. H. Torr. Fullyconvolutional siamese networks for object tracking. In Proc. Eur …”

Evaluation S. 127-164

„… well as the subsequent object extraction and tracking. Thereby first qualitative results have been …” „… evaluation of the proposed grid-based object tracking approach is presented for various scenarios in the …” „… . Results of the object-level estimation and tracking are then subsequently presented in more detail in …”

Titelei/Inhaltsverzeichnis

„… Fortschritt- Berichte VDI Grid-Based Object Tracking Sascha Steyer, M.Sc., München BAND 1|1 …” „… Universität München Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss Grid-Based Object Tracking Sascha Jannik …” „… - Berichte VDI Grid-Based Object Tracking Sascha Steyer, M.Sc., München BAND 1|1 VOLUME 1|1 NR. 1272 L …”

Object State Estimation S. 101-126

„… directly observable can be implicitly derived based on the motion tracking. That object state estimation …” „… State Estimation Object tracking approaches, and thus also the corresponding object state estimation …” „… sensor-individual object tracking with an early-stage object abstraction, e.g., [8, 22, 76], are critical as they …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… object tracking can be used to improve this classification, no robust cell-individual velocity estimation …” „… estimates. This representation forms the input to the subsequent object tracking. Finally, qualitative …” „… traffic light, since only dynamic occupied cells are considered in the subsequent object tracking. Hence …”

Object Extraction and Association S. 79-100

„… tracking (MHT) with a consideration of multiple matching association hypotheses. Object hypotheses are …” „… ) approach. In addition, the object tracking and the occupancy grid mapping are linked in [20] to improve …” „… . Another recent strategy is to perform not only the detection of objects but also the tracking over time …”

Own Publications S. 169

„… Object Tracking with Nonlinear Dynamic State and Shape Estimation. IEEE Trans. Intell. Transp. Syst …” „… Association for Grid-Based Object Tracking Using Particle Labeling. In Proc. IEEE Intell. Transp. Syst. Conf …” „… ., pages 3036–3043, 2018. [3] S. Steyer, G. Tanzmeister, and D. Wollherr. Object Tracking Based on …”

Measurement Grid Representation and Fusion S. 13-38

„… input for the temporal filtering of the dynamic grid mapping and the object tracking that are addressed …” „… filtering out all sensor data that can be associated to objects of a separate object tracking module. In a …” „… dynamic grid mapping and object tracking. 2.1.2 Contribution and Outline This chapter presents how …”

doi.org/10.51202/9783186272089

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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Introduction S. 1-32

„… Section 2.7.4. 6 1.2 The Multiple Object Tracking Problem 1.2.2 Tracking-by-detection The predominant …” „… detector that outputs detections for the considered object class may be used for the tracking-bydetection …” „… The first step within a tracking-by-detection approach, the object detection, has seen tremendous …”

Bibliography S. 172-196

„… . “Towards dense object tracking in a 2D honeybee hive”. In: The IEEE Conference on Computer Vision and …” „… Leal-Taixé, Ian Reid, Stefan Roth, and Konrad Schindler. MOT16: A Benchmark for Multi-Object Tracking. 2016 …” „… . “Radar based object detection and tracking for autonomous driving”. In: IEEE MTT-S International …”

Conclusions S. 165-171

„… tracking-by-detection paradigm on computed detections. To this end, object detections are fused with additional signals …” „… individual signal, e.g., missing object detections, in contrast to tracking-by-detection based approaches. In …” „… 5 Conclusions This work addresses the multiple object tracking problem (MOT): Using sensor data …”

Titelei/Inhaltsverzeichnis

„… Multiple Object Tracking (MOT) . . . . . . . . . . 4 1.2.2 Tracking-by-detection …” „… problem, the so-called tracking-by-detection paradigm is usually employed: First, object detections are …” „… trajectories for the desired objects. Since the tracking-by-detection paradigm is computed sequentially, errors …”

Fundamentals S. 33-79

„… Object detectors MOT methods based on the tracking-by-detection paradigm rely to a great extent on the …” „… detections to the same object. Also, during the evaluation of a tracking method, edges are selected in order …” „… solutions of PB, since 1 2xᵀQx + cᵀx = c′ᵀp(x) for p(x) = (z(x),xᵀ)ᵀ ∈ P′B. 60 2.7 Multi-Object Tracking …”

Lifted Disjoint Paths S. 130-164

„… inequalities are presented. The lifted disjoint paths problem is a natural model for multiple object tracking …” „… cycle-consistency constraints coming from multi-graph matching. Section 3 reformulates tracking multiple objects …” „… inequalities that lead to a high-quality linear relaxation. Graph construction for multiple object tracking. We …”

HO-MOT with Signal Fusion S. 80-129

„… proposes a method for HO-MOT using signal fusion. The performance of tracking-by-detection approaches …” „… of the tracking-by-detection paradigm. To this end, a fusion approach for implicit 1This chapter …” „… uniforms). 3.1 Introduction The tracking-by-detection paradigm is an effective approach for MOT. Instead of …”

doi.org/10.51202/9783186875105

VDI Wissensforum GmbH - Messunsicherheit praxisgerecht bestimmen 2017 und Prüfprozesse in der industriellen Praxis 2017

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VDI Wissensforum GmbH (ed.)

Messunsicherheit praxisgerecht bestimmen 2017 und Prüfprozesse in der industriellen Praxis 2017

Series: VDI-Berichte

Volume 2319 2017

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B. Naujoks, T. Engler, M. Michaelis, H.-J. Wuensche Measurement Uncertainty and its Influence on Dynamic Object Tracking in Autonomous Driving S. 111-122

„… Measurement Uncertainty and its Influence on Dynamic Object Tracking in Autonomous Driving Benjamin …” „… . This paper describes the influence of measurement uncertainty to all steps in Dynamic Object Tracking …” „… tracking of dynamic objects is a crucial task. Hence, there exists a vast amount of research for tracking …”

Titelei/Inhaltsverzeichnis

„… Uncertainty and its Influence on Dynamic 111 T. Engler, Object Tracking in Autonomous Driving M. Michaelis …”

doi.org/10.51202/9783181023198

Oliver Müller - Graphical Model MAP Inference with Continuous Label Space in Computer Vision

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Oliver Müller

Graphical Model MAP Inference with Continuous Label Space in Computer Vision

Series: Informatik/ Kommunikation

Volume 860 2018

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Related Work S. 15-24

„… tracking-bydetection paradigm, whereby the object tracking problem is decomposed into two separate steps: detection and …” „… Tracking-by-Detection Articulated Tracking Figure 2.3: Object tracking models of varying granularity and with different …” „… the state-of-the-art in part-based object tracking and pose estimation in section 2.1. Following that …”

Introduction S. 1-14

„… 1 Chapter 1Introduction 2 Chapter 1 Introduction Figure 1.1: Object tracking with varying level of …” „… detail. Top: Tracking of the coarse extents of an object (the bounding box, visualized as a red rectangle …” „… ). Middle: Tracking of an object which is decomposed into smaller parts (green rectangles) which are related …”

Tracking S. 78-106

„… to part-based online object tracking. Object tracking is a fundamental problem in computer vision. It …” „… recognition and many more. Online object tracking is a special case of object tracking in which the object …” „… a web cam. This property is known as causality. The workflow for online object tracking is …”

Titelei/Inhaltsverzeichnis

„… Objektverfolgung – Poseschätzung This thesis deals with monocular object tracking from video sequences. The goal is …” „… to improve tracking of previously unseen non-rigid objects under severe articulations without …” „… object into small parts and apply online tracking. Drift, which is a fundamental problem of online …”

Conclusions S. 107-110

„… contribution is an automatic initialized online tracking framework for articulated objects. The basic idea for …” „… object tracking in a high-order constraint, our framework is able to perform tracking of highly …” „… application of the developed inference methods is situated in the field of part-based online tracking of …”

Bibliography S. 128-146

„… ] Jérôme Berclaz, François Fleuret, Engin Türetken, and Pascal Fua. Multiple object tracking using …” „… , Song Cao, and Shihong Lao. Group tracking: Exploring mutual relations for multiple object tracking. In …” „… . Visual object tracking challenge. URL: http://www.votchallen ge.net, Accessed: 08-May-2017. [70] Matej …”

Stochastic Inference in Probabilistic Graphical Models S. 56-77

„… object tracking. 4.2 Tree-Reweighted Particle Max-Product In the previous section, the inference …” „… continuous and discrete-continuous graphical models for articulated online object tracking. 4.3 Discussion 77 …” „… . Sect. 4.1.4) and in the partbased object tracker in the next chapter (cf. Sect. 5.1). Although this …”

doi.org/10.51202/9783186860101

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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Sensor Data Fusion Architectures S. 27-45

„… environment model, as described in Section 1.3. Multi-sensor systems for detecting and tracking objects …” „… central object recognition module performs the segmentation and tracking of objects. More recently, [15 …” „… in the tracking process, requiring a feedback of the fusion module’s already tracked objects. The …”

State and Covariance S. 64-92

„… estimation of an object. In a multi-sensor, multitarget tracking application, the problem of how to track all …” „… detect other relevant objects, such as vehicles, bicycles, pedestrians, etc. Since tracking algorithms …” „… object detection at the sensor-level. The extracted features are used as the input to the tracking and …”

References S. 172-202

„… References [1] Adam, C., Schubert, R., and Wanielik, G., “Radar-Based Extended Object Tracking …” „… ., “Improved Object Tracking from Detailed Shape Estimation Using Object Local Grid Maps with Stereo,” in IEEE …” „… . 330–335. [13] Aue, J., Schmid, M., Graf, T., Effertz, J., and Muehlfellner, P., “Object Tracking from …”

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 …” „… tracking algorithms do not track the geometrical center of an object, as this has been shown to produce …” „… constellation between two objects is if they are tracking the same corner feature, as shown in Figure 3.6a. In …”

Titelei/Inhaltsverzeichnis

„… - Track Fusion – Tracking – Object Detection Driver assistance systems have increasingly relied on more …” „… / Fahrzeugtechnik Reihe 12 Object-Level Fusion for Surround Environment Perception in Automated Driving …” „… Applications Object-Level Fusion for Surround Environment Perception in Automated Driving Applications …”

Existence Probability S. 93-115

„… 5 Existence Probability In object tracking, it is very important to have a good estimate of the …” „… producing an existence probability for sensor-level tracking of objects. A popular approach is to use an …” „… , sensor data is far from perfect and false sensor measurements, which do not represent a relevant object …”

Evaluation S. 133-151

„… highways. Two main evaluation scenarios are considered: object estimation accuracy with ground truth data …” „… are used to evaluated the performance of the fused global object list compared to the results of each …” „… view of ± 55◦ and maximum range between 150m- 200m offers object detection with a large field-of-view …”

Conclusion and Discussion S. 152-154

„… grid-based approach has also been extended for model-based object tracking, where object local grid serve as …” „… architecture with a high-level, or object-level, approach for model-based object detection. The goal was to …” „… to the problem of object detection and fusion using multiple sensors for ADAS and automated driving …”

Introduction S. 1-26

„… , on which object detection and tracking was accomplished. This sensor has become a popular sensor …” „… tracking system to generate a single object list [299, 300]. Team LUX attempted the Urban Challenge using …” „… perception algorithms for object detection presented in this thesis were successfully integrated into the …”

Classification S. 116-132

„… object model introduced in Section 2.2.1 defines a classification vector c. In vehicle environment …” „… perception, classification serves the purpose of determining if an object belongs to a certain class type, or …” „… different driver assistance system to react specifically to objects of a certain type. A pedestrian safety …”

doi.org/10.51202/9783186804129

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