FlowMOT: 3D Multi-Object Tracking by Scene Flow Association

Understand

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability.

• Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal hyperparameters and often fail in varying scenarios.
• To alleviate these drawbacks, we propose a LiDAR-based 3D MOT framework named FlowMOT, which integrates point-wise motion information with the traditional matching algorithm, enhancing the robustness of the motion prediction.
• We firstly utilize a scene flow estimation network to obtain implicit motion information between two adjacent frames and calculate the predicted detection for each old tracklet in the previous frame.