Beyond 3D Siamese Tracking: A Motion-Centric Paradigm for 3D Single Object Tracking in Point Clouds
Chaoda Zheng, Yan Xu, Haiming Zhang, Baoyuan Wang, Shenghui Cheng, Shuguang Cui, Zhen Li
Abstract
3D single object tracking (3D SOT) in LiDAR point clouds plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and incomplete, which hinders effective appearance matching. Besides, previous methods greatly overlook the critical motion clues among targets. In this work, beyond 3D Siamese tracking, we introduce a motion-centric paradigm to handle 3D SOT from a new perspective. Following this paradigm, we propose a matching-free two-stage tracker M2-Track. At the 1 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">st</sup> -stage, M <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> -Track localizes the target within successive frames via motion transformation. Then it refines the target box through motion-assisted shape completion at the 2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nd</sup> -stage. Extensive experiments confirm that M <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> -Track significantly outperforms previous state-of-the-arts on three large-scale datasets while running at 57FPS (~ 8%, ~ 17% and ~ 22% precision gains on KITTI, NuScenes, and Waymo Open Dataset respectively). Further analysis verifies each component's effectiveness and shows the motioncentric paradigm's promising potential when combined with appearance matching. Code will be made available at https://github.com/Ghostish/Open3DSOT.