Know Your Surroundings: Panoramic Multi-Object Tracking by Multimodality Collaboration

Yuhang He, Wentao Yu, Jie Han, Xing Wei, Xiaopeng Hong, Yihong Gong; Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2021, pp. 2969-2980

In this paper, we focus on the multi-object tracking (MOT) problem of automatic driving and robot navigation. Most existing MOT methods track multiple objects using a singular RGB camera, which are prone to camera field-of-view and suffer tracking failures in complex scenarios due to background clutters and poor light conditions. To meet these challenges, we propose a MultiModality PAnoramic multi-object Tracking framework (MMPAT), which takes both 2D panorama images and 3D point clouds as input and then infers target trajectories using the multimodality data. The proposed method contains four major modules, a panorama image detection module, a multimodality data fusion module, a data association module and a trajectory inference model. We evaluate the proposed method on the JRDB dataset, where the MMPAT achieves the top performance in both the detection and tracking tasks and significantly outperforms state-of-the-art methods by a large margin (15.7 and 8.5 improvement in terms of AP and MOTA, respectively).