Deep Supervised Descent Method With Multiple Seeds Generation for 3-D Tracking in Point Cloud

Abstract

3D tracking in point cloud is a core competence of autonomous robots to perceive and forecast the environment. How to initialize bounding box seeds and optimize their position and orientation are very crucial for 3D object tracking in point clouds. Nevertheless, existing methods mainly resort to developing a powerful classifier based on the initial bounding box seeds. In this work, we propose an end-to-end deep supervised descent method (SDM), which seamlessly integrates multiple seeds generation for the initialization of seeds and sequential updates for the estimation of accurate result. Specifically, we start with transforming the SDM iterative process into a trainable recurrent module. It explicitly learns a series of descent directions in the parameter space, to gradually optimize the initial seeds. Moreover, to alleviate drifting of this process, we initialize multiple seeds based on aggregated point sets generated by the deep Hough voting. Besides, a discrimination module is introduced to determine the bounding box with the highest score as the final result. Importantly, a specific multi-task loss is proposed to train our model in an end-to-end way. Experiments on KITTI, PandaSet and Waymo datasets show that our method could achieve significant improvements (up to 11.2\% in success ratio) as compared to state-of-the-art trackers.