グラフ学習とモデルベース推定を統合した多視点センサフュージョンによる協調物体位置推定

原文アブストラクト

Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative localization, several model-based state estimation and learning-based localization methods have been developed. Given their encouraging performance, model-based state estimation often lacks the ability to model the complex relationships among multiple objects, while learning-based methods are typically not able to fuse the observations from an arbitrary number of views and cannot well model uncertainty. In this paper, we introduce a novel spatiotemporal graph filter approach that integrates graph learning and model-based estimation to perform multi-view sensor fusion for collaborative object localization. Our approach models complex object relationships using a new spatiotemporal graph representation and fuses multi-view observations in a Bayesian fashion to improve location estimation under uncertainty. We evaluate our approach in the applications of connected autonomous driving and multiple pedestrian localization. Experimental results show that our approach outperforms previous techniques and achieves the state-of-the-art performance on collaboration localization.