US 12,469,152 B2
System and method for three-dimensional multi-object tracking
Jie Li, Los Altos, CA (US); Rares A. Ambrus, San Francisco, CA (US); Taraneh Sadjadpour, Stanford, CA (US); and Christin Jeannette Bohg, Palo Alto, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US); Toyota Jidosha Kabushiki Kaisha, Toyota (JP); and The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on May 10, 2023, as Appl. No. 18/195,466.
Claims priority of provisional application 63/421,346, filed on Nov. 1, 2022.
Prior Publication US 2024/0153107 A1, May 9, 2024
Int. Cl. G06T 19/00 (2011.01); G06T 7/246 (2017.01)
CPC G06T 7/248 (2017.01) [G06T 19/00 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01); G06T 2210/12 (2013.01); G06T 2210/56 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for three-dimensional multi-object tracking comprising:
a processor; and
a memory having instructions that, when executed by the processor, cause the processor to:
determine a residual based on augmented current frame detection bounding boxes, augmented previous frame detection bounding boxes, augmented current frame shape descriptors, and augmented previous frame shape descriptors, the residual indicating a spatiotemporal and shape similarity between current detections in a current frame point cloud data and previous detections in a previous frame point cloud data, and
predict an affinity matrix using the residual, the affinity matrix indicating associations between the previous detections and the current detections, wherein the affinity matrix includes a first dimension that is correlated with the previous detections and includes information regarding a newborn track anchor and a false positive anchor and a second dimension that is correlated with the current detections and includes information regarding a false negative anchor and a dead track anchor,
wherein the affinity matrix identifies matches between tracks and detections, and
control a movement of a vehicle using the affinity matrix.