Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking

Autor:	Li, Xiaoyu, Liu, Dedong, Wu, Yitao, Wu, Xian, Zhao, Lijun, Gao, Jinghan
Rok vydání:	2024
Předmět:	Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	3D Multi-Object Tracking (MOT) captures stable and comprehensive motion states of surrounding obstacles, essential for robotic perception. However, current 3D trackers face issues with accuracy and latency consistency. In this paper, we propose Fast-Poly, a fast and effective filter-based method for 3D MOT. Building upon our previous work Poly-MOT, Fast-Poly addresses object rotational anisotropy in 3D space, enhances local computation densification, and leverages parallelization technique, improving inference speed and precision. Fast-Poly is extensively tested on two large-scale tracking benchmarks with Python implementation. On the nuScenes dataset, Fast-Poly achieves new state-of-the-art performance with 75.8% AMOTA among all methods and can run at 34.2 FPS on a personal CPU. On the Waymo dataset, Fast-Poly exhibits competitive accuracy with 63.6% MOTA and impressive inference speed (35.5 FPS). The source code is publicly available at https://github.com/lixiaoyu2000/FastPoly. Comment: 1st on the NuScenes Tracking benchmark with 75.8 AMOTA and 34.2 FPS
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2403.13443 Zobrazit plný text záznamu View this record from Arxiv