ODTFormer: Efficient Obstacle Detection and Tracking with Stereo Cameras Based on Transformer

arXiv:2403.14626v1 Announce Type: cross
Abstract: Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task, our approach leverages deformable attention to construct a 3D cost volume, which is decoded progressively in the form of voxel occupancy grids. We further track the obstacles by matching the voxels between consecutive frames. The entire model can be optimized in an …

abstract arxiv attention autonomous cameras construct cost cs.cv cs.ro detection navigation paper robot tracking transformer type