Center-based 3D Object Detection and Tracking

• URL: http://arxiv.org/abs/2006.11275v2
• Date: Wed, 6 Jan 2021 18:56:03 GMT
• Title: Center-based 3D Object Detection and Tracking
• Authors: Tianwei Yin, Xingyi Zhou, Philipp Kr\"ahenb\"uhl
• Abstract summary: Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. In this paper, we propose to represent, detect, and track 3D objects as points. Our framework, CenterPoint, first detects centers of objects using a keypoint detector and regresses to other attributes, including 3D size, 3D orientation, and velocity. The resulting detection and tracking algorithm is simple, efficient, and effective.
• Score: 8.72305226979945
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Three-dimensional objects are commonly represented as 3D boxes in a point-cloud. This representation mimics the well-studied image-based 2D bounding-box detection but comes with additional challenges. Objects in a 3D world do not follow any particular orientation, and box-based detectors have difficulties enumerating all orientations or fitting an axis-aligned bounding box to rotated objects. In this paper, we instead propose to represent, detect, and track 3D objects as points. Our framework, CenterPoint, first detects centers of objects using a keypoint detector and regresses to other attributes, including 3D size, 3D orientation, and velocity. In a second stage, it refines these estimates using 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 for a single model. On the Waymo Open Dataset, CenterPoint outperforms all previous single model method by a large margin and ranks first among all Lidar-only submissions. The code and pretrained models are available at https://github.com/tianweiy/CenterPoint.

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