Chengjie Zhang

Ce Zhang, Chengjie Zhang, Yiluan Guo et al. · eth-zurich

Multiple Object Tracking (MOT) is crucial to autonomous vehicle perception. End-to-end transformer-based algorithms, which detect and track objects simultaneously, show great potential for the MOT task. However, most existing methods focus on image-based tracking with a single object category. In this paper, we propose an end-to-end transformer-based MOT algorithm (MotionTrack) with multi-modality sensor inputs to track objects with multiple classes. Our objective is to establish a transformer baseline for the MOT in an autonomous driving environment. The proposed algorithm consists of a transformer-based data association (DA) module and a transformer-based query enhancement module to achieve MOT and Multiple Object Detection (MOD) simultaneously. The MotionTrack and its variations achieve better results (AMOTA score at 0.55) on the nuScenes dataset compared with other classical baseline models, such as the AB3DMOT, the CenterTrack, and the probabilistic 3D Kalman filter. In addition, we prove that a modified attention mechanism can be utilized for DA to accomplish the MOT, and aggregate history features to enhance the MOD performance.

Lingji Chen, Alok Sharma, Chinmay Shirore et al.

The DEtection TRansformer (DETR) approach, which uses a transformer encoder-decoder architecture and a set-based global loss, has become a building block in many transformer based applications. However, as originally presented, the assignment cost and the global loss are not aligned, i.e., reducing the former is likely but not guaranteed to reduce the latter. And the issue of gradient is ignored when a combinatorial solver such as Hungarian is used. In this paper we show that the global loss can be expressed as the sum of an assignment-independent term, and an assignment-dependent term which can be used to define the assignment cost matrix. Recent results on generalized gradients of optimal assignment cost with respect to parameters of an assignment problem are then used to define generalized gradients of the loss with respect to network parameters, and backpropagation is carried out properly. Our experiments using the same loss weights show interesting convergence properties and a potential for further performance improvements.