SiamMo: Siamese Motion-Centric 3D Object Tracking
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866913493665447936 |
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| author | Yang, Yuxiang Deng, Yingqi Zhang, Jing Gu, Hongjie Dong, Zhekang |
| author_facet | Yang, Yuxiang Deng, Yingqi Zhang, Jing Gu, Hongjie Dong, Zhekang |
| contents | Current 3D single object tracking methods primarily rely on the Siamese matching-based paradigm, which struggles with textureless and incomplete LiDAR point clouds. Conversely, the motion-centric paradigm avoids appearance matching, thus overcoming these issues. However, its complex multi-stage pipeline and the limited temporal modeling capability of a single-stream architecture constrain its potential. In this paper, we introduce SiamMo, a novel and simple Siamese motion-centric tracking approach. Unlike the traditional single-stream architecture, we employ Siamese feature extraction for motion-centric tracking. This decouples feature extraction from temporal fusion, significantly enhancing tracking performance. Additionally, we design a Spatio-Temporal Feature Aggregation module to integrate Siamese features at multiple scales, capturing motion information effectively. We also introduce a Box-aware Feature Encoding module to encode object size priors into motion estimation. SiamMo is a purely motion-centric tracker that eliminates the need for additional processes like segmentation and box refinement. Without whistles and bells, SiamMo not only surpasses state-of-the-art methods across multiple benchmarks but also demonstrates exceptional robustness in challenging scenarios. SiamMo sets a new record on the KITTI tracking benchmark with 90.1\% precision while maintaining a high inference speed of 108 FPS. The code will be released at https://github.com/HDU-VRLab/SiamMo. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_01688 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SiamMo: Siamese Motion-Centric 3D Object Tracking Yang, Yuxiang Deng, Yingqi Zhang, Jing Gu, Hongjie Dong, Zhekang Computer Vision and Pattern Recognition Current 3D single object tracking methods primarily rely on the Siamese matching-based paradigm, which struggles with textureless and incomplete LiDAR point clouds. Conversely, the motion-centric paradigm avoids appearance matching, thus overcoming these issues. However, its complex multi-stage pipeline and the limited temporal modeling capability of a single-stream architecture constrain its potential. In this paper, we introduce SiamMo, a novel and simple Siamese motion-centric tracking approach. Unlike the traditional single-stream architecture, we employ Siamese feature extraction for motion-centric tracking. This decouples feature extraction from temporal fusion, significantly enhancing tracking performance. Additionally, we design a Spatio-Temporal Feature Aggregation module to integrate Siamese features at multiple scales, capturing motion information effectively. We also introduce a Box-aware Feature Encoding module to encode object size priors into motion estimation. SiamMo is a purely motion-centric tracker that eliminates the need for additional processes like segmentation and box refinement. Without whistles and bells, SiamMo not only surpasses state-of-the-art methods across multiple benchmarks but also demonstrates exceptional robustness in challenging scenarios. SiamMo sets a new record on the KITTI tracking benchmark with 90.1\% precision while maintaining a high inference speed of 108 FPS. The code will be released at https://github.com/HDU-VRLab/SiamMo. |
| title | SiamMo: Siamese Motion-Centric 3D Object Tracking |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2408.01688 |