Online Multiple Object Tracking Using a Novel Discriminative Module for Autonomous Driving

Abstract

Multi object tracking (MOT) is a key research technology in the environment sensing system of automatic driving, which is very important to driving safety. Online multi object tracking needs to accurately extend the trajectory of multiple objects without using future frame information, so it will face greater challenges. Most of the existing online MOT methods are anchor-based detectors, which have many misdetections and missed detection problems, and have a poor effect on the trajectory extension of adjacent object objects when they are occluded and overlapped. In this paper, we propose a discrimination learning online tracker that can effectively solve the occlusion problem based on an anchor-free detector. This method uses the different weight characteristics of the object when the occlusion occurs and realizes the extension of the competition trajectory through the discrimination module to prevent the ID-switch problem. In the experimental part, we compared the algorithm with other trackers on two public benchmark datasets, MOT16 and MOT17, and proved that our algorithm has achieved state-of-the-art performance, and conducted a qualitative analysis on the convincing autonomous driving dataset KITTI.