python 多目标跟踪_“3D多目标跟踪基线”的官方python实现

最新推荐文章于 2024-08-08 03:50:21 发布

weixin_39628380

最新推荐文章于 2024-08-08 03:50:21 发布

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文章标签： python 多目标跟踪

本文链接：https://blog.csdn.net/weixin_39628380/article/details/111435509

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本文档提供了3D多目标跟踪基线的官方Python实现，使用3D卡尔曼滤波器和匈牙利算法进行状态估计和数据关联。该系统在KITTI数据集上达到 state-of-the-art 的性能，并且运行速度快。

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A Baseline for 3D Multi-Object Tracking

This repository contains the official python implementation for "A Baseline for 3D Multi-Object Tracking". If you find this code useful, please cite our paper:

@article{Weng2019_3dmot,

author = {Weng, Xinshuo and Kitani, Kris},

journal = {arXiv:1907.03961},

title = { {A Baseline for 3D Multi-Object Tracking}},

year = {2019}

}

Overview

News

Jan. 10, 2020: New metrics sAMOTA added and results updated

Aug. 21, 2019: Python 3 supported.

Aug. 21, 2019: Results on KITTI "pedestrian" and "cyclist" categories released.

Aug. 19, 2019: A minor bug in orientation correction fixed.

Jul. 9, 2019: Code and results on KITTI "car" category released.

Introduction

3D multi-object tracking (MOT) is an essential component technology for many real-time applications such as autonomous driving or assistive robotics. However, recent works for 3D MOT tend to focus more on developing accurate systems giving less regard to computational cost and system complexity. In contrast, this work proposes a simple yet accurate real-time baseline 3D MOT system. We use an off-the-shelf 3D object detector to obtain oriented 3D bounding boxes from the LiDAR point cloud. Then, a combination of 3D Kalman filter and Hungarian algorithm is used for state estimation and data association. Although our baseline system is a straightforward combination of standard m