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A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving. We propose a framework that can effectively associate moving objects over time and estimate their full 3D bounding box information from a sequence of 2D images captured on a moving platform. The object association leverages quasi-dense similarity learning to identify objects in various poses and viewpoints with appearance cues only. After initial 2D association, we further utilize 3D bounding boxes depth-ordering heuristics for robust instance association and motion-based 3D trajectory prediction for re-identification of occluded vehicles. In the end, an LSTM-based object velocity learning module aggregates the long-term trajectory information for more accurate motion extrapolation. Experiments on our proposed simulation data and real-world benchmarks, including KITTI, nuScenes, and Waymo datasets, show that our tracking framework offers robust object association and tracking on urban-driving scenarios. On the Waymo Open benchmark, we establish the first camera-only baseline in the 3D tracking and 3D detection challenges. Our quasi-dense 3D tracking pipeline achieves impressive improvements on the nuScenes 3D tracking benchmark with near five times tracking accuracy of the best vision-only submission among all published methods.
I obtained my Ph.D. degree in 2024 in Computer Science at CAD&CG Lab at Zhejiang University, supervised by Prof. Xiaowei Zhou. I was previously a visiting Ph.D. student in Computer Science and Engineering at UC San Diego, supervised by Prof. Hao Su. I received my Bachelor's degree in 2019 in Computer Science and English (dual-degree) from Zhejiang University. I am interested on 3D Computer Vision and Embodied AI. My research focuses on 3D understanding, including 3D object detection, reconstruction, and generation.
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Fondazzjoni Wirt Artna is hosting The Malta Society of Model Makers at Notre Dame Gate. The Society is holding its annual model exhibition of warplanes, figures, cars, tanks, ships, and dioramas of various scales.The exhibition is open weekdays from 9am to 6pm, weekends and public holidays from 9am to 7pm. On the final day, March 24, the exhibition will close at 5pm.If you are interested in using Notre Dame Gate for your event, you can contact us by sending an email to [email protected] or
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La galerie Arts & Autographes est une maison de vente et d'expertises d'autographes et de manuscrits historiques de personnages célèbres.
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