Radar_Camera_MOT

Code for our paper: Radar-Camera Fused Multi-Object Tracking Based On Online Calibration and Common Feature

High-Resolution Figures of our Paper

Fig. 1: Visualization of Errors Caused By Pitch Angle Change

Fig. 2: Target-based calibration scenarios typically require specific targets and environments, as well as manual intervention

Fig. 3: Framework of The Proposed Radar-Camera Fusion MOT Method

Fig. 4: Common Feature Discriminator Model Architecture

Fig. 5: Example Frames Demonstrating Multi-Object Tracking Results of The Proposed Method

Fig. 6: Test results using the Common Feature Discriminator

Fig. 7: Homography Transformation Between Radar and Camera Planes

Fig. 8: Block-Based Sampling Strategy

Fig. 9: Up-Down Separation Calibration Results

Fig. 10: Calibration Results For Three Different Scenarios

Fig. 12: Sensor Fusion Results for Person in Scenario 3 with Camera, Radar, and Radar-then-Camera Failed, Respectively.