EagerMOT: 3D Multi-Object Tracking via Sensor Fusion, full presentation (ICRA 2021)
https://arxiv.org/abs/2104.14682
In this paper, we propose EagerMOT, a simple tracking formulation that eagerly integrates all available object observations from both sensor modalities to obtain a well-informed interpretation of the scene dynamics. Using images, we can identify distant incoming objects, while depth estimates allow for precise trajectory localization as soon as objects are within the depth-sensing range. With EagerMOT, we achieve state-of-the-art results across several MOT tasks on the KITTI and NuScenes datasets.