• Login
    View Item 
    •   Home
    • Research
    • Preprints
    • View Item
    •   Home
    • Research
    • Preprints
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of KAUSTCommunitiesIssue DateSubmit DateThis CollectionIssue DateSubmit Date

    My Account

    Login

    Quick Links

    Open Access PolicyORCID LibguideTheses and Dissertations LibguideSubmit an Item

    Statistics

    Display statistics

    Efficient Tracking Proposals using 2D-3D Siamese Networks on LIDAR

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    Name:
    Preprintfile1.pdf
    Size:
    848.6Kb
    Format:
    PDF
    Description:
    Pre-print
    Download
    Type
    Preprint
    Authors
    Zarzar, Jesus
    Giancola, Silvio
    Ghanem, Bernard cc
    KAUST Department
    King Abdullah University of Science and Technology (KAUST), Saudi Arabia
    Electrical Engineering Program
    Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
    Date
    2019-03-25
    Permanent link to this record
    http://hdl.handle.net/10754/660668
    
    Metadata
    Show full item record
    Abstract
    Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution and correlation filters usually employed in 2D object tracking. In addition, structuring point clouds is cumbersome and implies losing fine-grained information. As a result, generating proposals in 3D space is expensive and inefficient. In this paper, we leverage the dense and structured Bird Eye View (BEV) representation of LIDAR point clouds to efficiently search for objects of interest. We use an efficient Region Proposal Network and generate a small number of object proposals in 3D. Successively, we refine our selection of 3D object candidates by exploiting the similarity capability of a 3D Siamese network. We regularize the latter 3D Siamese network for shape completion to enhance its discrimination capability. Our method attempts to solve both for an efficient search space in the BEV space and a meaningful selection using 3D LIDAR point cloud. We show that the Region Proposal in the BEV outperforms Bayesian methods such as Kalman and Particle Filters in providing proposal by a significant margin and that such candidates are suitable for the 3D Siamese network. By training our method end-to-end, we outperform the previous baseline in vehicle tracking by 12% / 18% in Success and Precision when using only 16 candidates.
    Publisher
    arXiv
    arXiv
    1903.10168
    Additional Links
    https://arxiv.org/pdf/1903.10168
    Collections
    Preprints; Electrical and Computer Engineering Program; Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

    entitlement

     
    DSpace software copyright © 2002-2023  DuraSpace
    Quick Guide | Contact Us | KAUST University Library
    Open Repository is a service hosted by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items. For anonymous users the allowed maximum amount is 50 search results.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.