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论文类型：会议论文

第一作者：Guo, Lie

合写作者：Ge, Pingshu,He, Danni,Wang, Dongxing

发表时间：2019-01-01

收录刊物：EI、CPCI-S

卷号：11744

页面范围：439-449

关键字：Vehicle detection; Data association; Kalman filter; Convolutional neural network

摘要：Environment perception is an important issue for autonomous driving applications. Vehicle detection and tracking is one of the most serious challenges and plays a crucial role for environment perception. Considering that the convolutional neural network (CNN) can provide high recognition rate for object detection, the vehicles are detected by utilizing Yolo v3 algorithm trained on ImageNet and KITTI datasets. Then, the detected multiple vehicles are tracked based on the combination of Kalman filter and data association strategy. Experiments on the publicly available KITTI object tracking datasets are conducted to test and verify the proposed algorithm. Results indicate that the proposed algorithm can achieve stable tracking under normal conditions even when the object is temporarily occluded.