Fast-Poly

This is the Official Repo For the Paper "Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking"

Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking,
Xiaoyu Li^*, Dedong Liu^*, Yitao Wu^*, Xian Wu^*, Jinghan Gao, Lijun Zhao
arXiv technical report (arXiv 2403.13443),

paper | youtube | bilibili

Note (Thank you for your patience)

The code will be uploaded after the first round of review.

Quick Overview

We propose Fast-Poly, a fast and effective 3D MOT method based on the Tracking-By-Detection framework. Building upon our previous work Poly-MOT, Fast-Poly integrates three core principles (Alignment, Densification, and Parallelization) to solve the real-time dilemma of filter-based methods while improving accuracy. Fast-Poly achieves new state-of-the-art performance with 75.8% AMOTA among all methods and can run at 34.2 FPS on the nuScenes test leaderboard. On the Waymo dataset, Fast-Poly exhibits competitive accuracy with 63.6% MOTA and impressive inference speed (35.5 FPS).

News

2024-03-20. Warm-up 🔥! The official repo and paper of Fast-Poly have been released. We will release the code soon. Welcome to follow.
2024-03-18. Our method ranks first among all methods on the nuScenes tracking benchmark 🔥.

Main Results

nuScenes

3D Multi-object tracking on nuScenes test set

Method	Detector	AMOTA	MOTA	FPS
Fast-Poly	LargeKernel3D	75.8	62.8	34.2
Poly-MOT	LargeKernel3D	75.4	62.1	3

3D Multi-object tracking on nuScenes val set

Method	Detector	AMOTA	MOTA	FPS
Fast-Poly	Centerpoint	73.7	63.2	28.9
Poly-MOT	Centerpoint	73.1	61.9	5.6
Fast-Poly	LargeKernel3D	76.0	65.8	34.2
Poly-MOT	LargeKernel3D	75.2	54.1	8.6

Waymo

3D Multi-object tracking on Waymo test set

Method	Detector	MOTA	FPS
Fast-Poly	CasA	63.6	35.5
CasTrack	CasA	62.6	--

3D Multi-object tracking on Waymo val set

Method	Detector	MOTA	FPS
Fast-Poly	CasA	62.3	35.5
CasTrack	CasA	61.3	--

Contact

Welcome to follow our previous work "Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking".

Citation

If you find this project useful in your research, please consider citing by 😸:

@misc{li2024fastpoly,
      title={Fast-Poly: A Fast Polyhedral Framework For 3D Multi-Object Tracking}, 
      author={Xiaoyu Li and Dedong Liu and Lijun Zhao and Yitao Wu and Xian Wu and Jinghan Gao},
      year={2024},
      eprint={2403.13443},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}

@inproceedings{li2023poly,
  title={Poly-mot: A polyhedral framework for 3d multi-object tracking},
  author={Li, Xiaoyu and Xie, Tao and Liu, Dedong and Gao, Jinghan and Dai, Kun and Jiang, Zhiqiang and Zhao, Lijun and Wang, Ke},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={9391--9398},
  year={2023},
  organization={IEEE}
}

lixiaoyu2000 / FastPoly