Recent works on 3D single object tracking treat the task as a target-specific 3D detection task, where an off-the-shelf 3D detector is commonly employed for the tracking. However, it is non-trivial to perform accurate target-specific detection since the point cloud of objects in raw LiDAR scans is usually sparse and incomplete. In this paper, we address this issue by explicitly leveraging temporal motion cues and propose DMT, a Detector-free Motion-prediction-based 3D Tracking network that completely removes the usage of complicated 3D detectors and is lighter, faster, and more accurate than previous trackers. Specifically, the motion prediction module is first introduced to estimate a potential target center of the current frame in a point-cloud-free manner. Then, an explicit voting module is proposed to directly regress the 3D box from the estimated target center. Extensive experiments on KITTI and NuScenes datasets demonstrate that our DMT can still achieve better performance (~10% improvement over the NuScenes dataset) and a faster tracking speed (i.e., 72 FPS) than state-of-the-art approaches without applying any complicated 3D detectors. Our code is released at \url{https://github.com/jimmy-dq/DMT}
Nanjing University of Science and Technology（南京理工大学）
3D object tracking in point clouds is still a challenging problem due to the sparsity of LiDAR points in dynamic environments. In this work, we propose a Siamese voxel-to-BEV tracker, which can significantly improve the tracking performance in sparse 3D point clouds. Specifically, it consists of a Siamese shape-aware feature learning network and a voxel-to-BEV target localization network. The Siamese shape-aware feature learning network can capture 3D shape information of the object to learn the discriminative features of the object so that the potential target from the background in sparse po…
EasyTrack: Efficient and Compact One-stream 3D Point Clouds Tracker
College of Artificial Intelligence, Nanjing University of Posts and Telecommunications（南京邮电大学人工智能学院）；Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人与智能制造研究院）
University of Southern California（南加州大学）；Tencent America（腾讯美国）
Visual odometry aims to track the incremental motion of an object using the information captured by visual sensors. In this work, we study the point cloud odometry problem, where only the point cloud scans obtained by the LiDAR (Light Detection And Ranging) are used to estimate object's motion trajectory. A lightweight point cloud odometry solution is proposed and named the green point cloud odometry (GreenPCO) method. GreenPCO is an unsupervised learning method that predicts object motion by matching features of consecutive point cloud scans. It consists of three steps. First, a geometry-awar…
Institute for Infocomm Research, A*STAR（新加坡科技研究局资讯通信研究院）；Centre for Frontier AI Research, A*STAR（新加坡科技研究局前沿人工智能研究中心）；Alibaba Group（阿里巴巴集团）
In this paper we present SA-CNN, a hierarchical and lightweight self-attention based encoding and decoding architecture for representation learning of point cloud data. The proposed SA-CNN introduces convolution and transposed convolution stacks to capture and generate contextual information among unordered 3D points. Following conventional hierarchical pipeline, the encoding process extracts feature in local-to-global manner, while the decoding process generates feature and point cloud in coarse-to-fine, multi-resolution stages. We demonstrate that SA-CNN is capable of a wide range of applica…
PointeNet: A Lightweight Framework for Effective and Efficient Point Cloud Analysis
Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；Delft University of Technology（代尔夫特理工大学）；Jiangsu University of Technology（江苏理工学院）；Hong Kong Metropolitan University（香港都会大学）
T3DNet: Compressing Point Cloud Models for Lightweight 3D Recognition
School of Electrical and Electronics Engineering, Nanyang Technological University（南洋理工大学电气与电子工程学院）；School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院）
Microsoft Research Asia（微软亚洲研究院）；Dalian University of Technology（大连理工大学）；Sun Yat-sen University（中山大学）；Peng Cheng Laboratory（鹏城实验室）
Object tracking has achieved significant progress over the past few years. However, state-of-the-art trackers become increasingly heavy and expensive, which limits their deployments in resource-constrained applications. In this work, we present LightTrack, which uses neural architecture search (NAS) to design more lightweight and efficient object trackers. Comprehensive experiments show that our LightTrack is effective. It can find trackers that achieve superior performance compared to handcrafted SOTA trackers, such as SiamRPN++ and Ocean, while using much fewer model Flops and parameters. Mo…
A Lightweight UDF Learning Framework for 3D Reconstruction Based on Local Shape Functions
School of Software, Dalian University of Technology（大连理工大学软件学院）；CCDS, Nanyang Technological University（南洋理工大学CCDS）；Key Laboratory of System Software (CAS) and SKLCS, Institute of Software, CAS（中国科学院软件研究所系统软件重点实验室）；University of Chinese Academy of Sciences（中国科学院大学）；Department of Computer Science, City University of Hong Kong（香港城市大学计算机科学系）
Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；Dalian Naval Academy（大连海军学院）；Lingnan University（岭南大学）；Hong Kong Metropolitan University（香港都会大学）；The Polytechnic University of Hong Kong（香港理工大学）
There is a trend to fuse multi-modal information for 3D object detection (3OD). However, the challenging problems of low lightweightness, poor flexibility of plug-and-play, and inaccurate alignment of features are still not well-solved, when designing multi-modal fusion newtorks. We propose PointSee, a lightweight, flexible and effective multi-modal fusion solution to facilitate various 3OD networks by semantic feature enhancement of LiDAR point clouds assembled with scene images. Beyond the existing wisdom of 3OD, PointSee consists of a hidden module (HM) and a seen module (SM): HM decorates …
Rutgers University（罗格斯大学）；Hong Kong Polytechnic University（香港理工大学）；Nanyang Technological University（南洋理工大学）
We introduce a novel robust hybrid 3D face tracking framework from RGBD video streams, which is capable of tracking head pose and facial actions without pre-calibration or intervention from a user. In particular, we emphasize on improving the tracking performance in instances where the tracked subject is at a large distance from the cameras, and the quality of point cloud deteriorates severely. This is accomplished by the combination of a flexible 3D shape regressor and the joint 2D+3D optimization on shape parameters. Our approach fits facial blendshapes to the point cloud of the human head, …
Aalto University（阿尔托大学）；University of Bergen（卑尔根大学）；Aalborg University（奥尔堡大学）
We present Tesla-Rapture, a gesture recognition interface for point clouds generated by mmWave Radars. State of the art gesture recognition models are either too resource consuming or not sufficiently accurate for integration into real-life scenarios using wearable or constrained equipment such as IoT devices (e.g. Raspberry PI), XR hardware (e.g. HoloLens), or smart-phones. To tackle this issue, we developed Tesla, a Message Passing Neural Network (MPNN) graph convolution approach for mmWave radar point clouds. The model outperforms the state of the art on two datasets in terms of accuracy wh…
University of Washington（华盛顿大学）；NVIDIA Research（英伟达研究院）
Successfully tracking the human body is an important perceptual challenge for robots that must work around people. Existing methods fall into two broad categories: geometric tracking and direct pose estimation using machine learning. While recent work has shown direct estimation techniques can be quite powerful, geometric tracking methods using point clouds can provide a very high level of 3D accuracy which is necessary for many robotic applications. However these approaches can have difficulty in clutter when large portions of the subject are occluded. To overcome this limitation, we propose …
PRI-Net: A Lightweight Multimodal Framework for 3D UAV Localization
College of Information Science and Electronic Engineering, Zhejiang University（浙江大学信息与电子工程学院）；Zhejiang Key Laboratory of Multimodal Communication Networks and Intelligent Information Processing（浙江省多模态通信网络与智能信息处理重点实验室）
OG-PCL: Efficient Sparse Point Cloud Processing for Human Activity Recognition
Key Laboratory of Underwater Acoustic Signal Processing of Ministry of Education, Southeast University, Nanjing, 211189, China（教育部水下声学信号处理重点实验室，东南大学，南京）
GMOR: A Lightweight Robust Point Cloud Registration Framework via Geometric Maximum Overlapping
Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology（北京混合现实与先进显示工程研究中心，光学与 photonics 学院，北京理工大学）；Zhengzhou Research Institute, Beijing Institute of Technology（郑州研究院，北京理工大学）；School of Computer Science and Technology, Beijing Institute of Technology（计算机科学与技术学院，北京理工大学）；School of Medical Technology, Beijing Institute of Technology（医学技术学院，北京理工大学）
University of Southern California（南加州大学）；Army Research Laboratory（美国陆军研究实验室）
An unsupervised, lightweight and high-performance single object tracker, called UHP-SOT, was proposed by Zhou et al. recently. As an extension, we present an enhanced version and name it UHP-SOT++ in this work. Built upon the foundation of the discriminative-correlation-filters-based (DCF-based) tracker, two new ingredients are introduced in UHP-SOT and UHP-SOT++: 1) background motion modeling and 2) object box trajectory modeling. The main difference between UHP-SOT and UHP-SOT++ is the fusion strategy of proposals from three models (i.e., DCF, background motion and object box trajectory mode…
Spatio-Temporal Bi-directional Cross-frame Memory for Distractor Filtering Point Cloud Single Object Tracking
School of Electronic and Information Engineering, Changchun University of Science and Technology（长春理工大学电子信息工程学院）；Hong Kong Applied Science and Technology Research Institute（香港应用科技研究院）
LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Clouds
School of AI and Advanced Computing, Xi’an Jiaotong-Liverpool University（人工智能与先进计算学院，西安交通大学利物浦大学）；Momoni AI；Department of Automation, Shanghai Jiaotong University（自动化学院，上海交通大学）；College of Science and Engineering, James Cook University（科学与工程学院，詹姆斯库克大学）；School of Engineering, Swinburne University of Technology（工程学院，斯威灵斯大学）
University of Science and Technology of China（中国科学技术大学）；Tencent AI Lab（腾讯人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）
Correlation filters (CF) have received considerable attention in visual tracking because of their computational efficiency. Leveraging deep features via off-the-shelf CNN models (e.g., VGG), CF trackers achieve state-of-the-art performance while consuming a large number of computing resources. This limits deep CF trackers to be deployed to many mobile platforms on which only a single-core CPU is available. In this paper, we propose to jointly compress and transfer off-the-shelf CNN models within a knowledge distillation framework. We formulate a CNN model pretrained from the image classificati…
