Submission details of PC-DAN_CVPR2021

Name PC-DAN_CVPR2021
Paper Link https://arxiv.org/abs/2106.07552
Code Link N/A
MOTA 0.22565
MOTP 0.0603023
IDs 26009
False Positives 58090
False Negatives 681852
Input N/A
Runtime 0.16 s
Environment GPU (GP102 TITAN Xp)
Abstract In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially revolutionizing the autonomous vehicles and assistive robotic industry. A point cloud is a dense compilation of spatial data in 3D coordinates. It plays a vital role in modeling complex real-world scenes since it preserves structural information and avoids perspective distortion, unlike image data, which is the projection of a 3D structure on a 2D plane. In order to leverage the intrinsic capabilities of the LIDAR data, we propose a PointNet-based approach for 3D Multi-Object Tracking (MOT).

Detailed results

Per-sequence results

sequence name MOTA MOTP IDs False Positives False Negatives
cubberly-auditorium-2019-04-22_1 31.87 11.15 377 80 8656
discovery-walk-2019-02-28_0 26.84 10.42 256 240 9328
discovery-walk-2019-02-28_1 33.54 -10.21 248 612 8835
food-trucks-2019-02-12_0 37.78 14.04 1503 2710 35907
gates-ai-lab-2019-04-17_0 16.31 4.65 565 7509 13612
gates-basement-elevators-2019-01-17_0 44.70 -180.75 190 100 6321
gates-foyer-2019-01-17_0 37.60 12.89 258 2068 4239
gates-to-clark-2019-02-28_0 31.18 -15.95 57 268 1430
hewlett-class-2019-01-23_0 44.41 10.36 415 711 8109
hewlett-class-2019-01-23_1 41.44 0.94 121 1130 1794
huang-2-2019-01-25_1 21.21 -9.52 98 516 4610
huang-intersection-2019-01-22_0 20.93 21.26 621 259 36089
indoor-coupa-cafe-2019-02-06_0 12.21 9.21 1525 5850 54484
lomita-serra-intersection-2019-01-30_0 22.31 -4.72 290 2270 13361
meyer-green-2019-03-16_1 14.29 -4.25 528 1643 17690
nvidia-aud-2019-01-25_0 17.68 12.36 775 2911 24676
nvidia-aud-2019-04-18_1 21.21 14.11 82 384 5817
nvidia-aud-2019-04-18_2 19.80 3.34 272 1297 6684
outdoor-coupa-cafe-2019-02-06_0 15.41 18.49 1196 2495 43017
quarry-road-2019-02-28_0 12.76 -16.69 87 903 4623
serra-street-2019-01-30_0 19.77 -0.91 467 267 34639
stlc-111-2019-04-19_1 46.98 0.00 155 156 3021
stlc-111-2019-04-19_2 36.93 -5.84 77 221 1994
tressider-2019-03-16_2 19.81 -5.99 547 545 19980
tressider-2019-04-26_0 17.02 9.43 4121 4274 99128
tressider-2019-04-26_1 23.87 8.93 6886 10077 132686
tressider-2019-04-26_3 23.08 18.58 4292 8594 81122
total 22.56 6.03 26009 58090 681852