3D Single Object Tracking with Multi-View Unsupervised Center Uncertainty Learning

Abstract

Center point localization is a major factor affecting the performance of 3D single object tracking. Point clouds themselves are a set of discrete points on the local surface of an object, and there is also a lot of noise in the labeling. Therefore, directly regressing the center coordinates is not very reasonable. Existing methods usually use volumetric-based, point-based, and view-based methods, with a relatively single modality. In addition, the sampling strategies commonly used usually result in the loss of object information, and holistic and detailed information is beneficial for object localization. To address these challenges, we propose a novel Multi-view unsupervised center Uncertainty 3D single object Tracker (MUT). MUT models the potential uncertainty of center coordinates localization using an unsupervised manner, allowing the model to learn the true distribution. By projecting point clouds, MUT can obtain multi-view depth map features, realize efficient knowledge transfer from 2D to 3D, and provide another modality information for the tracker. We also propose a former attraction probability sampling strategy that preserves object information. By using both holistic and detailed descriptors of point clouds, the tracker can have a more comprehensive understanding of the tracking environment. Experimental results show that the proposed MUT network outperforms the baseline models on the KITTI dataset by 0.8% and 0.6% in precision and success rate, respectively, and on the NuScenes dataset by 1.4%, and 6.1% in precision and success rate, respectively. The code is made available at https://github.com/abchears/MUT.git.

Keywords

• 3d single object tracking
• uncertainty modeling
• multi-view feature
• holistic and detailed descriptor