Spb3DTracker: A Robust LiDAR-Based Person Tracker for Noisy Environment

TL;DR

This paper introduces Spb3DTracker, a LiDAR-based person tracking system that is robust in noisy environments and achieves state-of-the-art results on benchmark datasets, addressing privacy concerns associated with camera-based methods.

Contribution

The paper presents a novel LiDAR-based person tracker, Spb3DTracker, with improved robustness and performance in noisy environments, advancing the state-of-the-art in LiDAR-based person detection and tracking.

Findings

Achieves superior performance on noisy datasets.

Attains state-of-the-art results on KITTI and indoor datasets.

Demonstrates robustness in diverse environments.

Abstract

Person detection and tracking (PDT) has seen significant advancements with 2D camera-based systems in the autonomous vehicle field, leading to widespread adoption of these algorithms. However, growing privacy concerns have recently emerged as a major issue, prompting a shift towards LiDAR-based PDT as a viable alternative. Within this domain, "Tracking-by-Detection" (TBD) has become a prominent methodology. Despite its effectiveness, LiDAR-based PDT has not yet achieved the same level of performance as camera-based PDT. This paper examines key components of the LiDAR-based PDT framework, including detection post-processing, data association, motion modeling, and lifecycle management. Building upon these insights, we introduce SpbTrack, a robust person tracker designed for diverse environments. Our method achieves superior performance on noisy datasets and state-of-the-art results on KITTI Dataset benchmarks and custom office indoor dataset among LiDAR-based trackers.