3D Multi-Object Tracking using Lidar

Introduction to Lidar, Autonomous Driving Public Dataset Types, State of the Art Object Recognition Models for Lidar, and a Kalman Filter-based Tracking Algorithm is explained in this tutorial

Hello everyone! I have completed my master's program after a very busy last 6-months period where I was having my internship and preparing my master's thesis report. Without surprise, my project was about “3D Multi-Object Tracking using Lidar for Autonomous Driving” and as a very beginner in Lidar, Tracking, and Autonomous Driving subjects, I decided to share my notes before I forget the details that I had trouble understanding as a beginner :)

This post will have the following structure to explain my project from top to bottom :

• Background Information
  1. RGB-D Camera
  2. Point Clouds
  3. Object Tracking Types
• Object Detection using Lidar
  1. PointNet
  2. VoxelNet
  3. SECOND
  4. PointPillar
  5. Model Selection

Object Detection using Lidar

• Kalman Filter-based Tracking Algorithm
  1. Main Types of Tracking Methods
  2. Kalman Filter
  3. Mahalanobis Distance
  4. Greedy Match Algorithm
  5. Optimizations
  6…