Realtime Vehicle and Pedestrian Tracking for Didi Udacity Self-Driving Car Challenge

Alexander Buyval; Aidar Gabdullin; Ruslan Mustafin; Ilya Shimchik

ICRA 2018poster51 citations

Realtime Vehicle and Pedestrian Tracking for Didi Udacity Self-Driving Car Challenge

Alexander Buyval, Aidar Gabdullin, Ruslan Mustafin, Ilya Shimchik

Abstract

The efficiency and execution time of a road scene evaluation subsystem directly influences a self-driving car's control effectiveness. This article presents a novel approach to fuse data from various sensors (camera, LIDAR, radar, IMU) for pedestrian and vehicle tracking. Our approach, thanks to modern methods of image processing and power of GPU for LIDAR processing, achieves 25Hz update frequency for tracking. The system has been tested on the DiDi-Udacity Self-Driving Challenge datasets.

BibTeX

@inproceedings{icra2018_realtimevehiclea,
  title = {Realtime Vehicle and Pedestrian Tracking for Didi Udacity Self-Driving Car Challenge},
  author = {Alexander Buyval and Aidar Gabdullin and Ruslan Mustafin and Ilya Shimchik},
  booktitle = {ICRA 2018},
  year = {2018}
}