Toyota Jidosha Kabushiki Kaisha

Leland Stanford Junior University

Toyota Research Institute, Inc.

Colton Stearns

Rares A Ambrus

Jie Li

Sergey Zakharov

Davis Rempe

Tolga Birdal

A method for multiple object tracking includes receiving, with a computing device, a point cloud dataset, detecting one or more objects in the point cloud dataset, each of the detected one or more objects defined by points of the point cloud dataset and a bounding box, querying one or more historical tracklets for historical tracklet states corresponding to each of the one or more detected objects, implementing a 4D encoding backbone comprising two branches: a first branch configured to compute per-point features for each of the one or more objects and the corresponding historical tracklet states, and a second branch configured to obtain 4D point features, concatenating the per-point features and the 4D point features, and predicting, with a decoder receiving the concatenated per-point features, current tracklet states for each of the one or more objects.

Systems and methods for multi-object tracking

Growing community of inventors

Stanford, CA, United States of America

Colton Stearns