STT: Stateful Tracking with Transformers for Autonomous Driving

arXiv:2405.00236v1 Announce Type: cross
Abstract: Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and acceleration in the present. Existing works frequently focus on the association task while either neglecting the model performance on state estimation or deploying complex heuristics to predict the states. In this paper, we propose STT, a Stateful Tracking model built …

abstract arxiv association autonomous autonomous driving cs.ai cs.cv cs.lg cs.ro driving focus objects safety space three-dimensional tracking transformers type while