Qiao Wu

Qiao Wu, Jiaqi Yang, Kun Sun et al.

3D single object tracking (SOT) is an indispensable part of automated driving. Existing approaches rely heavily on large, densely labeled datasets. However, annotating point clouds is both costly and time-consuming. Inspired by the great success of cycle tracking in unsupervised 2D SOT, we introduce the first semi-supervised approach to 3D SOT. Specifically, we introduce two cycle-consistency strategies for supervision: 1) Self tracking cycles, which leverage labels to help the model converge better in the early stages of training; 2) forward-backward cycles, which strengthen the tracker's robustness to motion variations and the template noise caused by the template update strategy. Furthermore, we propose a data augmentation strategy named SOTMixup to improve the tracker's robustness to point cloud diversity. SOTMixup generates training samples by sampling points in two point clouds with a mixing rate and assigns a reasonable loss weight for training according to the mixing rate. The resulting MixCycle approach generalizes to appearance matching-based trackers. On the KITTI benchmark, based on the P2B tracker, MixCycle trained with $\textbf{10\%}$ labels outperforms P2B trained with $\textbf{100\%}$ labels, and achieves a $\textbf{28.4\%}$ precision improvement when using $\textbf{1\%}$ labels. Our code will be released at \url{https://github.com/Mumuqiao/MixCycle}.

Qiao Wu, Kun Sun, Pei An et al.

The high temporal variation of the point clouds is the key challenge of 3D single-object tracking (3D SOT). Existing approaches rely on the assumption that the shape variation of the point clouds and the motion of the objects across neighboring frames are smooth, failing to cope with high temporal variation data. In this paper, we present a novel framework for 3D SOT in point clouds with high temporal variation, called HVTrack. HVTrack proposes three novel components to tackle the challenges in the high temporal variation scenario: 1) A Relative-Pose-Aware Memory module to handle temporal point cloud shape variations; 2) a Base-Expansion Feature Cross-Attention module to deal with similar object distractions in expanded search areas; 3) a Contextual Point Guided Self-Attention module for suppressing heavy background noise. We construct a dataset with high temporal variation (KITTI-HV) by setting different frame intervals for sampling in the KITTI dataset. On the KITTI-HV with 5 frame intervals, our HVTrack surpasses the state-of-the-art tracker CXTracker by 11.3%/15.7% in Success/Precision.

Ziming Nie, Qiao Wu, Chenlei Lv et al.

Point cloud upsampling aims to generate dense and uniformly distributed point sets from sparse point clouds. Existing point cloud upsampling methods typically approach the task as an interpolation problem. They achieve upsampling by performing local interpolation between point clouds or in the feature space, then regressing the interpolated points to appropriate positions. By contrast, our proposed method treats point cloud upsampling as a global shape completion problem. Specifically, our method first divides the point cloud into multiple patches. Then, a masking operation is applied to remove some patches, leaving visible point cloud patches. Finally, our custom-designed neural network iterative completes the missing sections of the point cloud through the visible parts. During testing, by selecting different mask sequences, we can restore various complete patches. A sufficiently dense upsampled point cloud can be obtained by merging all the completed patches. We demonstrate the superior performance of our method through both quantitative and qualitative experiments, showing overall superiority against both existing self-supervised and supervised methods.