2023/06/29 by Ce Zhang, Chengjie Zhang, Zhang, Ce +7 · 4 citations
Computer Science · Environmental Science · #Advanced Neural Network Applications #Air Quality Monitoring and Forecasting #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2306.17000
openalex publication_date 2023/06/29 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Multiple Object Tracking (MOT) is crucial to autonomous vehicle perception. End-to-end transformer-based algorithms, which detect and track objects simultaneously, show great potential for the MOT task. However, most existing methods focus on image-based tracking with a single object category. In this paper, we propose an end-to-end transformer-based MOT algorithm (MotionTrack) with multi-modality sensor inputs to track objects with multiple classes. Our objective is to establish a transformer baseline for the MOT in an autonomous driving environment. The proposed algorithm consists of a transformer-based data association (DA) module and a transformer-based query enhancement module to achieve MOT and Multiple Object Detection (MOD) simultaneously. The MotionTrack and its variations achieve better results (AMOTA score at 0.55) on the nuScenes dataset compared with other classical baseline models, such as the AB3DMOT, the CenterTrack, and the probabilistic 3D Kalman filter. In addition, we prove that a modified attention mechanism can be utilized for DA to accomplish the MOT, and aggregate history features to enhance the MOD performance.