Zhang, Zhenrong, Liu, Jianan, Xia, Yuxuan, Huang, Tao, Han, Qing Long, and Liu, Hongbin (2025) LEGO: Learning and Graph-Optimized Modular Tracker for Online Multi-Object Tracking with Point Clouds. IEEE Transactions on Circuits and Systems for Video Technology, 36 (2). pp. 2419-2432.

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Abstract

Online Multi-Object Tracking (MOT) plays a pivotal role in autonomous systems. The state-of-the-art approaches usually employ a tracking-by-detection method, and data association plays a critical role. This paper proposes a learning and graph-optimized (LEGO) modular tracker to improve data association performance in the existing literature. The proposed LEGO tracker integrates graph optimization, which efficiently formulates the association score map, facilitating the accurate and efficient matching of objects across time frames. To further enhance the state update process, the Kalman filter is added to ensure consistent tracking by incorporating temporal coherence in the object states to further enhance the state update process. Our proposed method, utilising LiDAR alone, has shown exceptional performance compared to other online tracking approaches, including LiDAR-based and LiDAR-camera fusion-based methods. LEGO ranked 3^rd among all trackers (both online and offline) and 2^nd among all online trackers in the KITTI MOT benchmark for cars¹, at the time of submitting results to KITTI object tracking evaluation ranking board. Moreover, our method also achieves competitive performance on the Waymo open dataset benchmark.

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