论文标题
Waymo开放数据集挑战的第一名解决方案-2D和3D跟踪
1st Place Solutions for Waymo Open Dataset Challenges -- 2D and 3D Tracking
论文作者
论文摘要
该技术报告介绍了在线和实时2D和3D多目标跟踪（MOT）算法，该算法在Waymo Open DataSet 2D跟踪和3D跟踪挑战上都达到了第一名。提出了一个名为HorizonMot的高效且务实的在线跟踪逐个检测框架，用于在图像空间中基于相机的2D跟踪，并在3D World Space中基于LIDAR的3D跟踪。在逐个检测范式中，我们的跟踪器利用了2D/3D检测挑战中使用的高性能检测器，并在2D/3D跟踪挑战中实现了45.13％2D MOTA/L2和63.45％3D Mota/L2。
This technical report presents the online and real-time 2D and 3D multi-object tracking (MOT) algorithms that reached the 1st places on both Waymo Open Dataset 2D tracking and 3D tracking challenges. An efficient and pragmatic online tracking-by-detection framework named HorizonMOT is proposed for camera-based 2D tracking in the image space and LiDAR-based 3D tracking in the 3D world space. Within the tracking-by-detection paradigm, our trackers leverage our high-performing detectors used in the 2D/3D detection challenges and achieved 45.13% 2D MOTA/L2 and 63.45% 3D MOTA/L2 in the 2D/3D tracking challenges.
