CXTrack: Improving 3D Point Cloud Tracking with Contextual Information

Understand

3D single object tracking plays an essential role in many applications, such as autonomous driving.

• It remains a challenging problem due to the large appearance variation and the sparsity of points caused by occlusion and limited sensor capabilities.
• Therefore, contextual information across two consecutive frames is crucial for effective object tracking.
• However, points containing such useful information are often overlooked and cropped out in existing methods, leading to insufficient use of important contextual knowledge.