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CANMOT: Class-Aware Noise Modeling for Multi-Object Tracking in Autonomous Driving
arXiv:2606.03590v1 Announce Type: new Abstract: Kalman filter (KF)-based multi-object tracking (MOT) remains a strong baseline for autonomous driving due to its strong performance, computational efficiency and interpretability. In most practical systems, the process noise and measurement noise covariances are defined globally and shared across object classes, presuming identical uncertainty characteristics across heterogeneous traffic participants. This work revisits this assumption and...