P2B: Point-to-Box Network for 3D Object Tracking in Point Clouds

CVPR 2020  ·  Haozhe Qi, Chen Feng, Zhiguo Cao, Feng Zhao, Yang Xiao ·

Towards 3D object tracking in point clouds, a novel point-to-box network termed P2B is proposed in an end-to-end learning manner. Our main idea is to first localize potential target centers in 3D search area embedded with target information. Then point-driven 3D target proposal and verification are executed jointly. In this way, the time-consuming 3D exhaustive search can be avoided. Specifically, we first sample seeds from the point clouds in template and search area respectively. Then, we execute permutation-invariant feature augmentation to embed target clues from template into search area seeds and represent them with target-specific features. Consequently, the augmented search area seeds regress the potential target centers via Hough voting. The centers are further strengthened with seed-wise targetness scores. Finally, each center clusters its neighbors to leverage the ensemble power for joint 3D target proposal and verification. We apply PointNet++ as our backbone and experiments on KITTI tracking dataset demonstrate P2B's superiority (~10%'s improvement over state-of-the-art). Note that P2B can run with 40FPS on a single NVIDIA 1080Ti GPU. Our code and model are available at https://github.com/HaozheQi/P2B.

PDF Abstract CVPR 2020 PDF CVPR 2020 Abstract


Results from the Paper

  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.


No methods listed for this paper. Add relevant methods here