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arXiv · 2209.08857

Deep Fusion of Multi-Object Densities Using Transformer

Lechi Li·Chen Dai·Yuxuan Xia·Lennart Svensson
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Abstract

In this paper, we demonstrate that deep learning based method can be used to fuse multi-object densities. Given a scenario with several sensors with possibly different field-of-views, tracking is performed locally in each sensor by a tracker, which produces random finite set multi-object densities. To fuse outputs from different trackers, we adapt a recently proposed transformer-based multi-object tracker, where the fusion result is a global multi-object density, describing the set of all alive objects at the current time. We compare the performance of the transformer-based fusion method with a well-performing model-based Bayesian fusion method in several simulated scenarios with different parameter settings using synthetic data. The simulation results show that the transformer-based fusion method outperforms the model-based Bayesian method in our experimental scenarios.

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Lechi Li, Chen Dai, Yuxuan Xia, Lennart Svensson. 2023-02-16. Deep Fusion of Multi-Object Densities Using Transformer. https://arxiv.org/abs/2209.08857

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