A project for 3D multi-object tracking with python
3D Multi-Object Tracker
This project is developed for tracking multiple objects in 3D scene. The visualization code is from here.
Features
- Fast: currently, the codes can achieve 700 FPS using only CPU (not include detection and data op), can perform tracking on all kitti val sequence in several seconds.
- Support both online and global implementation. The overall framework of design is shown below:
Kitti Results
Results on the Kitti tracking val seq [1,6,8,10,12,13,14,15,16,18,19] using second-iou and point-rcnn detections. We followed the HOTA metric, and tuned the parameters in this code by firstly considering the HOTA performance.
| Detector | HOTA | DetA | AssA | DetRe | DetPr | AssRe | AssPr | LocA | MOTA |
|---|---|---|---|---|---|---|---|---|---|
| second-iou | 78.787 | 74.482 | 83.611 | 80.665 | 84.72 | 89.022 | 88.575 | 88.63 | 85.129 |
| point-rcnn |