CenterPoint: Center-based 3D Object Detection and Tracking

July 2020

tl;dr: CenterTrack for lidar 3D object detection.

Overall impression

The results are quite impressive. It almost doubles mAP from 30 PointPillars to 60 CenterPoint on nuScenes. Especially it improves the performance on buses and trucks.

The anchor-free object detection of AFDet (winner of 2020 Waymo Open Dataset challenge) is very close to CenterPoint.

The tracking with motion prediction idea is take one step further by SimTrack. It improves the bipartite matching by a direct look-up operation.

Key ideas

Technical details