Fast-Poly: 3D多物体追跡のための高速多面体フレームワーク
Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking
3D多物体追跡のためのフィルタベース手法Fast-Polyを提案し、回転異方性の考慮や並列化により高速化と高精度化を実現した。
著者: Xiaoyu Li, Dedong Liu, Yitao Wu, Xian Wu, Lijun Zhao, Jinghan Gao
分類: cs.CV, cs.RO
原文アブストラクト
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.
