Published in Stanford CS238: Decision Making under Uncertainty, 2019
Abstract: We present a stereo-camera-based 3D vehicle-tracking system that utilizes Kalman filtering to improve robustness. The objective of our system is to accurately predict locations and orientations of vehicles from stereo camera data. It consists of three modules: a 2D object detection network, 3D position extraction, and 3D object correlation/smoothing. The system approaches the 3D localization performance of LIDAR and significantly outperforms the state-of-the-art monocular vehicle tracking systems. The addition of Kalman filtering increases our system’s robustness to missed detections, and improves the recall of our detector. Kalman filtering improves the MAP score of 3D localization for moderately difficult vehicles by 7.7%, compared to our unfiltered baseline. Our system predicts the correct orientation of vehicles with 78% accuracy.
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