Vehicle Detection and Tracking with Roadside LiDAR Using Improved ResNet18 and the Hungarian Algorithm

Abstract

By the end of the 2020s, full autonomy in autonomous driving may become commercially viable in certain regions. However, achieving Level 5 autonomy requires crucial collaborations between vehicles and infrastructure, necessitating high-speed data processing and low-latency capabilities. This paper introduces a vehicle tracking algorithm based on roadside LiDAR (light detection and ranging) infrastructure to reduce the latency to 100 ms without compromising the detection accuracy. We first develop a vehicle detection architecture based on ResNet18 that can more effectively detect vehicles at a full frame rate by improving the BEV mapping and the loss function of the optimizer. Then, we propose a new three-stage vehicle tracking algorithm. This algorithm enhances the Hungarian algorithm to better match objects detected in consecutive frames, while time–space logicality and trajectory similarity are proposed to address the short-term occlusion problem. Finally, the system is tested on static scenes in the KITTI dataset and the MATLAB/Simulink simulation dataset. The results show that the proposed framework outperforms other methods, with F1-scores of 96.97% and 98.58% for vehicle detection for the KITTI and MATLAB/Simulink datasets, respectively. For vehicle tracking, the MOTA are 88.12% and 90.56%, and the ID-F1 are 95.16% and 96.43%, which are better optimized than the traditional Hungarian algorithm. In particular, it has a significant improvement in calculation speed, which is important for real-time transportation applications.

Placement Method of Multiple Lidars for Roadside Infrastructure in Urban Environments

“…Lidar, especially the time-of-flight (TOF) variant, is widely used in autonomous vehicles to acquire point cloud data, aiding in object detection, localization, and map construction. Integrating lidar into roadside infrastructure is emerging, and some studies have been conducted using roadside lidar [1][2][3][4][5][6][7][8][9][10].…”