3D MOT on Waymo dataset

This project is developed for online 3D multi-object tracking on Waymo dataset. It is build upon CasA detector and CA-based KF tracker. The tracking code is from here; detector is from here; visualization code is from here.

Waymo Results

Vehicle/Pedestrian/Cyclist online tracking results, evaluated by MOTA/L2 metrics of Waymo benchmark.

• 2022/9/23 Update CasTrack-waymo, currently ranks third on Waymo tracking benchmark 🔥!

set	Vehicle_L2	Pedestrian_L2	Cyclist_L2	ALL_NS_L2
val set	59.30	62.78	61.72	61.27
test set	63.66	64.79	59.34	62.60

Prepare data

You can download the CasA detections from here (Please register with waymo before downloading, as the Waymo open dataset is under strict non-commercial license). To run this code, you need prepare the waymo dataset infos generated by CasA.

Quick start

• Please modify the info path, detections path in the yaml file to your own path.
• Then run python3 waymo_tracking.py config/config.yaml
• The results are automatically saved to save_path in yaml file, and evaluated by Waymo metrics (the results are lower than the one calculated by Waymo benchmark). You can create a submission file to evaluate the performance on Waymo benchmark by running python3 create_submission/create_submission.py