This is the Official Repo For the Paper "Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking"
Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking,
Xiaoyu Li*, Dedong Liu*, Yitao Wu*, Xian Wu*, Jinghan Gao, Lijun Zhao
arXiv technical report (arXiv 2403.13443),
- The code will be uploaded after the first round of review.
We propose Fast-Poly, a fast and effective 3D MOT method based on the Tracking-By-Detection framework. Building upon our previous work Poly-MOT, Fast-Poly integrates three core principles (Alignment, Densification, and Parallelization) to solve the real-time dilemma of filter-based methods while improving accuracy. Fast-Poly achieves new state-of-the-art performance with 75.8% AMOTA among all methods and can run at 34.2 FPS on the nuScenes test leaderboard. On the Waymo dataset, Fast-Poly exhibits competitive accuracy with 63.6% MOTA and impressive inference speed (35.5 FPS).
- 2024-03-20. Warm-up 🔥! The official repo and paper of Fast-Poly have been released. We will release the code soon. Welcome to follow.
- 2024-03-18. Our method ranks first among all methods on the nuScenes tracking benchmark 🔥.
Method | Detector | AMOTA | MOTA | FPS |
---|---|---|---|---|
Fast-Poly | LargeKernel3D | 75.8 | 62.8 | 34.2 |
Poly-MOT | LargeKernel3D | 75.4 | 62.1 | 3 |
Method | Detector | AMOTA | MOTA | FPS |
---|---|---|---|---|
Fast-Poly | Centerpoint | 73.7 | 63.2 | 28.9 |
Poly-MOT | Centerpoint | 73.1 | 61.9 | 5.6 |
Fast-Poly | LargeKernel3D | 76.0 | 65.8 | 34.2 |
Poly-MOT | LargeKernel3D | 75.2 | 54.1 | 8.6 |
Method | Detector | MOTA | FPS |
---|---|---|---|
Fast-Poly | CasA | 63.6 | 35.5 |
CasTrack | CasA | 62.6 | -- |
Method | Detector | MOTA | FPS |
---|---|---|---|
Fast-Poly | CasA | 62.3 | 35.5 |
CasTrack | CasA | 61.3 | -- |
Welcome to follow our previous work "Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking".
If you find this project useful in your research, please consider citing by 😸:
@misc{li2024fastpoly,
title={Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking},
author={Xiaoyu Li and Dedong Liu and Lijun Zhao and Yitao Wu and Xian Wu and Jinghan Gao},
year={2024},
eprint={2403.13443},
archivePrefix={arXiv},
primaryClass={cs.CV}
}
@inproceedings{li2023poly,
title={Poly-mot: A polyhedral framework for 3d multi-object tracking},
author={Li, Xiaoyu and Xie, Tao and Liu, Dedong and Gao, Jinghan and Dai, Kun and Jiang, Zhiqiang and Zhao, Lijun and Wang, Ke},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={9391--9398},
year={2023},
organization={IEEE}
}