NextStop: パノプティックLiDARセグメンテーションのための改良トラッカー

原文アブストラクト

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a tracking-by-detection methodology, employing deep learning networks to perform semantic and instance segmentation on each frame. To maintain temporal consistency, large-size instances detected in the current frame are compared and associated with instances within a temporal window that includes the current and preceding frames. However, their reliance on short-term instance detection, lack of motion estimation, and exclusion of small-sized instances lead to frequent identity switches and reduced tracking performance. We address these issues with the NextStop1 tracker, which integrates Kalman filter-based motion estimation, data association, and lifespan management, along with a tracklet state concept to improve prioritization. Evaluated using the LiDAR Segmentation and Tracking Quality (LSTQ) metric on the SemanticKITTI validation set, NextStop demonstrated enhanced tracking performance, particularly for small-sized objects like people and bicyclists, with fewer ID switches, earlier tracking initiation, and improved reliability in complex environments. The source code is available at https://github.com/AIROTAU/NextStop