RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud
CoRR(2023)
摘要
Mobile autonomy relies on the precise perception of dynamic environments.
Robustly tracking moving objects in 3D world thus plays a pivotal role for
applications like trajectory prediction, obstacle avoidance, and path planning.
While most current methods utilize LiDARs or cameras for Multiple Object
Tracking (MOT), the capabilities of 4D imaging radars remain largely
unexplored. Recognizing the challenges posed by radar noise and point sparsity
in 4D radar data, we introduce RaTrack, an innovative solution tailored for
radar-based tracking. Bypassing the typical reliance on specific object types
and 3D bounding boxes, our method focuses on motion segmentation and
clustering, enriched by a motion estimation module. Evaluated on the
View-of-Delft dataset, RaTrack showcases superior tracking precision of moving
objects, largely surpassing the performance of the state of the art.
更多查看译文
关键词
tracking,object detection,4d
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要