Lei Yang

Yan Gong, Mengjun Chen, Hao Liu et al.

Multi-object tracking (MOT) enables autonomous vehicles to continuously perceive dynamic objects, supplying essential temporal cues for prediction, behavior understanding, and safe planning. However, conventional tracking-by-detection methods typically rely on static coordinate transformations based on ego-vehicle poses, disregarding ego-vehicle speed-induced variations in observation noise and reference frame changes, which degrades tracking stability and accuracy in dynamic, high-speed scenarios. In this paper, we investigate the critical role of ego-vehicle speed in MOT and propose a Speed-Guided Learnable Kalman Filter (SG-LKF) that dynamically adapts uncertainty modeling to ego-vehicle speed, significantly improving stability and accuracy in highly dynamic scenarios. Central to SG-LKF is MotionScaleNet (MSNet), a decoupled token-mixing and channel-mixing MLP that adaptively predicts key parameters of SG-LKF. To enhance inter-frame association and trajectory continuity, we introduce a self-supervised trajectory consistency loss jointly optimized with semantic and positional constraints. Extensive experiments show that SG-LKF ranks first among all vision-based methods on KITTI 2D MOT with 79.59% HOTA, delivers strong results on KITTI 3D MOT with 82.03% HOTA, and outperforms SimpleTrack by 2.2% AMOTA on nuScenes 3D MOT.

Lei Yang

In this paper, we consider a class of possibly nonconvex, nonsmooth and non-Lipschitz optimization problems arising in many contemporary applications such as machine learning, variable selection and image processing. To solve this class of problems, we propose a proximal gradient method with extrapolation and line search (PGels). This method is developed based on a special potential function and successfully incorporates both extrapolation and non-monotone line search, which are two simple and efficient accelerating techniques for the proximal gradient method. Thanks to the line search, this method allows more flexibilities in choosing the extrapolation parameters and updates them adaptively at each iteration if a certain line search criterion is not satisfied. Moreover, with proper choices of parameters, our PGels reduces to many existing algorithms. We also show that, under some mild conditions, our line search criterion is well defined and any cluster point of the sequence generated by PGels is a stationary point of our problem. In addition, by assuming the Kurdyka-$Ł$ojasiewicz exponent of the objective in our problem, we further analyze the local convergence rate of two special cases of PGels, including the widely used non-monotone proximal gradient method as one case. Finally, we conduct some numerical experiments for solving the $\ell_1$ regularized logistic regression problem and the $\ell_{1\text{-}2}$ regularized least squares problem. Our numerical results illustrate the efficiency of PGels and show the potential advantage of combining two accelerating techniques.

Lei Yang, Ting Kei Pong, Xiaojun Chen

In this paper we consider a general matrix factorization model which covers a large class of existing models with many applications in areas such as machine learning and imaging sciences. To solve this possibly nonconvex, nonsmooth and non-Lipschitz problem, we develop a non-monotone alternating updating method based on a potential function. Our method essentially updates two blocks of variables in turn by inexactly minimizing this potential function, and updates another auxiliary block of variables using an explicit formula. The special structure of our potential function allows us to take advantage of efficient computational strategies for non-negative matrix factorization to perform the alternating minimization over the two blocks of variables. A suitable line search criterion is also incorporated to improve the numerical performance. Under some mild conditions, we show that the line search criterion is well defined, and establish that the sequence generated is bounded and any cluster point of the sequence is a stationary point. Finally, we conduct some numerical experiments using real datasets to compare our method with some existing efficient methods for non-negative matrix factorization and matrix completion. The numerical results show that our method can outperform these methods for these specific applications.