既存都市インフラのセンサノードによるLiDARベース交通参加者追跡
Lidar-based Tracking of Traffic Participants with Sensor Nodes in Existing Urban Infrastructure
単一LiDARとエッジコンピューティングで動作するGPU不要の追跡フレームワークを提案し、都市環境でリアルタイムかつ高精度な交通参加者の状態・クラス・寸法・存在確率推定を実現した。
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著者: Simon Schäfer, Bassam Alrifaee, Ehsan Hashemi
分類: cs.RO
原文アブストラクト
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet traditional remote sensing remains costly and computationally intensive, especially under perceptually degraded conditions. Our sensor node couples a single lidar with an edge computing unit and runs a computationally efficient, GPU-free observer that simultaneously estimates object state, class, dimensions, and existence probability. The pipeline performs: (i) state updates via an extended Kalman filter, (ii) dimension estimation using a 1D grid-map/Bayesian update, (iii) class updates via a lookup table driven by the most probable footprint, and (iv) existence estimation from track age and bounding-box consistency. Experiments in dynamic urban-like scenes with diverse traffic participants demonstrate real-time performance and high precision: The complete end-to-end pipeline finishes within \SI{100}{\milli\second} for \SI{99.88}{\%} of messages, with an excellent detection rate. Robustness is further confirmed under simulated wind and sensor vibration. These results indicate that reliable, real-time roadside tracking is feasible on CPU-only edge hardware, enabling scalable, privacy-friendly deployments within existing city infrastructure. The framework integrates with existing poles, traffic lights, and buildings, reducing deployment costs and simplifying large-scale urban rollouts and maintenance efforts.
