Accurate and reliable tracking of multiple moving objects in 3D space is an
essential component of urban scene understanding. This is a challenging task
because it requires the assignment of detections in the current frame to the
predicted objects from the previous one. Existing filter
本文提出了一个新的全局关联图模型与链接预测方法,以预测现有的 tracklets 位置并通过交叉注意力运动建模和外观重新识别将检测与 tracklets 链接起来,以解决由于不一致的 3D 对象检测引起的问题,并提高 nuScenes 检测挑战中标准 3D 对象检测器的检测准确率。实验结果表明,该方法在现有基于视觉的跟踪数据集上表现出了 SOTA 的性能。