US 12,488,477 B2
Systems and methods for multi-object tracking
Colton Stearns, Stanford, CA (US); Jie Li, Los Altos, CA (US); Rares A. Ambrus, San Francisco, CA (US); Vitor Campagnolo Guizilini, Santa Clara, CA (US); Sergey Zakharov, San Francisco, CA (US); Adrien D. Gaidon, San Jose, CA (US); Davis Rempe, Stanford, CA (US); Tolga Birdal, London (GB); and Leonidas J. Guibas, Palo Alto, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US); Toyota Jidosha Kabushiki Kaisha, Aichi-ken (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 26, 2023, as Appl. No. 18/202,632.
Claims priority of provisional application 63/359,725, filed on Jul. 8, 2022.
Prior Publication US 2024/0013409 A1, Jan. 11, 2024
Int. Cl. G06T 7/246 (2017.01)
CPC G06T 7/248 (2017.01) [G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for multiple object tracking comprising:
receiving, with a computing device, a point cloud dataset;
detecting one or more objects in the point cloud dataset, each of the detected one or more objects defined by points of the point cloud dataset and a bounding box;
querying one or more historical tracklets for historical tracklet states corresponding to each of the one or more detected objects;
implementing a 4D encoding backbone comprising two branches:
a first branch configured to compute per-point features for each of the one or more objects and the corresponding historical tracklet states, and
a second branch configured to obtain 4D point features;
concatenating the per-point features and the 4D point features; and
predicting, with a decoder receiving the concatenated per-point features, current tracklet states for each of the one or more objects.