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Center-Based 3D Object Detection and Tracking

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Center-Based 3D Object Detection and TrackingTianwei YinUT ZhouUT Kr ahenb uhlUT objects are commonly represented as3D boxes in a point-cloud. This representation mimics thewell-studied image-based 2D bounding-box Detection butcomes with additional challenges. Objects in a 3D world donot follow any particular orientation, and box-based detec-tors have difficulties enumerating all orientations or fittingan axis-aligned bounding box to rotated objects. In thispaper, we instead propose to represent, detect, and track 3Dobjects as points. Our framework, CenterPoint, first detectscenters of objects using a keypoint detector and regressesto other attributes, including 3D size, 3D orientation, andvelocity.

additional point features on the object. In CenterPoint, 3D object tracking simplifies to greedy closest-point matching. The resulting detection and tracking algorithm is simple, efficient, and effective. CenterPoint achieved state-of-the-art performance on the nuScenes benchmark for both 3D detection and tracking, with 65.5 NDS and 63.8 AMOTA

  Tracking, Object, Object tracking

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