{"id":"https://openalex.org/W4403600962","doi":"https://doi.org/10.1109/access.2024.3484129","title":"High-Performance Multi-Object Tracking for Autonomous Driving in Urban Scenarios With Heterogeneous Embedded Boards","display_name":"High-Performance Multi-Object Tracking for Autonomous Driving in Urban Scenarios With Heterogeneous Embedded Boards","publication_year":2024,"publication_date":"2024-10-21","ids":{"openalex":"https://openalex.org/W4403600962","doi":"https://doi.org/10.1109/access.2024.3484129"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3484129","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3484129","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3484129","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092266093","display_name":"Alessio Medaglini","orcid":"https://orcid.org/0000-0002-7572-6733"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessio Medaglini","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7572-6733","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021283515","display_name":"Biagio Peccerillo","orcid":"https://orcid.org/0000-0002-4998-0092"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Biagio Peccerillo","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4998-0092","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047011963","display_name":"Sandro Bartolini","orcid":"https://orcid.org/0000-0002-7975-3632"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sandro Bartolini","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7975-3632","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5092266093"],"corresponding_institution_ids":["https://openalex.org/I102064193"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6952,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71603342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"8649","last_page":"8663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9656000137329102,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7628849744796753},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5045453310012817},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48771485686302185},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.4773545265197754},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38877394795417786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31996971368789673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7628849744796753},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5045453310012817},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48771485686302185},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.4773545265197754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38877394795417786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31996971368789673},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2024.3484129","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3484129","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7f0bd2bf343e41b4b513cea9a971511d","is_oa":true,"landing_page_url":"https://doaj.org/article/7f0bd2bf343e41b4b513cea9a971511d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 8649-8663 (2025)","raw_type":"article"},{"id":"pmh:oai:usiena-air.unisi.it:11365/1281637","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/10723301","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3484129","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3484129","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1507290626","https://openalex.org/W1963965124","https://openalex.org/W1975315658","https://openalex.org/W2097183228","https://openalex.org/W2105934661","https://openalex.org/W2123487311","https://openalex.org/W2124781496","https://openalex.org/W2225887246","https://openalex.org/W2252355370","https://openalex.org/W2398802088","https://openalex.org/W2776581970","https://openalex.org/W2792490509","https://openalex.org/W2895071559","https://openalex.org/W2911767333","https://openalex.org/W2921116546","https://openalex.org/W2953303875","https://openalex.org/W2964400550","https://openalex.org/W2970938561","https://openalex.org/W3014364594","https://openalex.org/W3086436251","https://openalex.org/W3106734377","https://openalex.org/W3109943374","https://openalex.org/W3110691991","https://openalex.org/W3117901461","https://openalex.org/W3126577607","https://openalex.org/W3127935603","https://openalex.org/W3136121014","https://openalex.org/W3187867541","https://openalex.org/W3215544228","https://openalex.org/W4214815337","https://openalex.org/W4292692470","https://openalex.org/W4317810475","https://openalex.org/W4382050870","https://openalex.org/W4386076204","https://openalex.org/W4388868327","https://openalex.org/W4392499469","https://openalex.org/W4399418563","https://openalex.org/W6639602013","https://openalex.org/W6775253321","https://openalex.org/W7015097608"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Autonomous":[0,52],"Driving":[1,53],"is":[2,32,106,167],"emerging":[3],"as":[4,42,170],"a":[5,36,98,177,215],"paradigm":[6],"shift":[7],"in":[8,60,202,214],"the":[9,56,61,66,70,73,89,109,123,146,157,208,212],"way":[10],"we":[11,87,185],"conceive":[12],"people":[13],"and":[14,26,46,65,80,131,138,149,156,182],"goods":[15],"transportation.":[16],"It":[17,31],"promises":[18],"to":[19,68,107,144,188,194],"improve":[20],"road":[21],"safety,":[22],"reduce":[23],"traffic":[24],"congestion,":[25],"increase":[27],"overall":[28],"transportation":[29,101],"efficiency.":[30],"made":[33,168],"possible":[34],"by":[35],"plethora":[37],"of":[38,51,58,72,112,126,153,160],"modern":[39],"technologies,":[40],"such":[41],"AI,":[43],"low-power":[44],"hardware,":[45],"complex":[47],"computing.":[48],"Common":[49],"stages":[50],"systems":[54],"are":[55,118,142,186],"identification":[57],"objects":[59],"scene":[62],"(Object":[63],"Detection),":[64],"ability":[67],"predict":[69],"evolution":[71],"tracked":[74],"objects\u2019":[75],"states":[76],"\u2013":[77],"usually,":[78],"positions":[79],"velocities":[81],"(Multi-Object":[82],"Tracking).":[83],"In":[84],"this":[85],"paper,":[86],"address":[88],"issues":[90],"behind":[91],"high-performance":[92,110],"Multi-Object":[93],"Tracking":[94],"(MOT)":[95],"algorithms":[96],"for":[97],"real-world":[99],"urban":[100],"scenario.":[102],"The":[103],"main":[104],"objective":[105],"exploit":[108],"capabilities":[111],"NVIDIA":[113,161],"heterogeneous":[114],"embedded":[115,162],"platforms,":[116],"which":[117],"not":[119],"automatically":[120],"compatible":[121],"with":[122,211],"peculiar":[124],"features":[125],"these":[127],"algorithms.":[128],"We":[129,172],"propose":[130],"discuss":[132],"some":[133],"non-trivial":[134],"software":[135],"design":[136],"choices":[137],"implementation":[139],"strategies":[140],"that":[141,184],"needed":[143],"match":[145],"specific":[147],"computational":[148],"memory":[150],"access":[151],"needs":[152],"MOT":[154],"strategies,":[155],"architectural":[158],"opportunities":[159],"GPGPU":[163],"systems.":[164],"Our":[165],"code":[166],"available":[169],"open-source.":[171],"compare":[173],"our":[174],"solution":[175],"against":[176],"highly":[178],"optimized":[179],"multi-core":[180],"version":[181],"show":[183],"able":[187],"trigger":[189],"significant":[190],"performance":[191],"speedups":[192],"(up":[193],"<inline-formula":[195],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[196],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[197],"<tex-math":[198],"notation=\"LaTeX\">$7.19\\times":[199],"$":[200],"</tex-math></inline-formula>)":[201],"all":[203],"power-modes,":[204],"sometimes":[205],"even":[206],"surpassing":[207],"CPU":[209],"reference":[210],"GPU":[213],"lower-power":[216],"operating":[217],"mode.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}