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

Understand

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects.

• However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects.
• With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns.
• In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.).