PB-MOT: Pose-aware Association Boosted Online 3D Multi-Object Tracking

摘要

Robotic and autonomous driving platforms necessitate efficient 3D Multi-Object Tracking (MOT) that harmonizes geometric precision, motion robustness, and computational efficiency. Traditional 3D MOT approaches face critical challenges: geometric similarity metrics (e.g., IoU-based) degrade at long ranges with high computational costs, while distance-based methods fail to capture object orientation and shape; the effects of occlusion and the intricate relative ego-object motion degrade tracking performance in dynamic scenes. To this end, we propose PB-MOT, an online framework integrating two key innovations: ego-motion-compensated state estimation that decouples dynamic interactions; and a rotated ellipse association algorithm unifying pose and shape-aware matching with adaptive distance constraints. Evaluations on the KITTI benchmark show that our PB-MOT achieves state-of-the-art performance with a HOTA score of 81.94%, while running at an impressive 2,402.76 FPS on CPU. This enables real-time, high-fidelity perception and tracking for resource-constrained robotic systems.