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Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm

By the end of the 2020s, full autonomy in autonomous driving may become commercially viable in certain regions. However, achieving Level 5 autonomy requires crucial collaborations between vehicles and infrastructure, necessitating high-speed data processing and low-latency capabilities. This paper i...

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Autores principales: Lin, Ciyun, Sun, Ganghao, Wu, Dayong, Xie, Chen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10575351/
https://www.ncbi.nlm.nih.gov/pubmed/37836973
http://dx.doi.org/10.3390/s23198143
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author Lin, Ciyun
Sun, Ganghao
Wu, Dayong
Xie, Chen
author_facet Lin, Ciyun
Sun, Ganghao
Wu, Dayong
Xie, Chen
author_sort Lin, Ciyun
collection PubMed
description By the end of the 2020s, full autonomy in autonomous driving may become commercially viable in certain regions. However, achieving Level 5 autonomy requires crucial collaborations between vehicles and infrastructure, necessitating high-speed data processing and low-latency capabilities. This paper introduces a vehicle tracking algorithm based on roadside LiDAR (light detection and ranging) infrastructure to reduce the latency to 100 ms without compromising the detection accuracy. We first develop a vehicle detection architecture based on ResNet18 that can more effectively detect vehicles at a full frame rate by improving the BEV mapping and the loss function of the optimizer. Then, we propose a new three-stage vehicle tracking algorithm. This algorithm enhances the Hungarian algorithm to better match objects detected in consecutive frames, while time–space logicality and trajectory similarity are proposed to address the short-term occlusion problem. Finally, the system is tested on static scenes in the KITTI dataset and the MATLAB/Simulink simulation dataset. The results show that the proposed framework outperforms other methods, with F1-scores of 96.97% and 98.58% for vehicle detection for the KITTI and MATLAB/Simulink datasets, respectively. For vehicle tracking, the MOTA are 88.12% and 90.56%, and the ID-F1 are 95.16% and 96.43%, which are better optimized than the traditional Hungarian algorithm. In particular, it has a significant improvement in calculation speed, which is important for real-time transportation applications.
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spelling pubmed-105753512023-10-14 Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm Lin, Ciyun Sun, Ganghao Wu, Dayong Xie, Chen Sensors (Basel) Article By the end of the 2020s, full autonomy in autonomous driving may become commercially viable in certain regions. However, achieving Level 5 autonomy requires crucial collaborations between vehicles and infrastructure, necessitating high-speed data processing and low-latency capabilities. This paper introduces a vehicle tracking algorithm based on roadside LiDAR (light detection and ranging) infrastructure to reduce the latency to 100 ms without compromising the detection accuracy. We first develop a vehicle detection architecture based on ResNet18 that can more effectively detect vehicles at a full frame rate by improving the BEV mapping and the loss function of the optimizer. Then, we propose a new three-stage vehicle tracking algorithm. This algorithm enhances the Hungarian algorithm to better match objects detected in consecutive frames, while time–space logicality and trajectory similarity are proposed to address the short-term occlusion problem. Finally, the system is tested on static scenes in the KITTI dataset and the MATLAB/Simulink simulation dataset. The results show that the proposed framework outperforms other methods, with F1-scores of 96.97% and 98.58% for vehicle detection for the KITTI and MATLAB/Simulink datasets, respectively. For vehicle tracking, the MOTA are 88.12% and 90.56%, and the ID-F1 are 95.16% and 96.43%, which are better optimized than the traditional Hungarian algorithm. In particular, it has a significant improvement in calculation speed, which is important for real-time transportation applications. MDPI 2023-09-28 /pmc/articles/PMC10575351/ /pubmed/37836973 http://dx.doi.org/10.3390/s23198143 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Lin, Ciyun
Sun, Ganghao
Wu, Dayong
Xie, Chen
Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm
title Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm
title_full Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm
title_fullStr Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm
title_full_unstemmed Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm
title_short Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm
title_sort vehicle detection and tracking with roadside lidar using improved resnet18 and the hungarian algorithm
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10575351/
https://www.ncbi.nlm.nih.gov/pubmed/37836973
http://dx.doi.org/10.3390/s23198143
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