They developed a system named Occupancy Tracker using C++. This system stitched up the curb detections from the images, that across camera scenes, camera boundaries, and over time. But this design has two problems:
Problem1: The across-camera fusion and the tracker are very difficult to write explicitly. Tuning the occupancy tracker and all of its hyperparameters was extremely complicated. Tuning C++ programs by hand is a nightmare for every programmer.
Problem2: Image space is not the right output space. You should make predictions in the vector…