3D object tracking

[beginningfan]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

Currently, the tracking module in Autoware is 2D, which only considers the information of the xy plane and cannot adapt to situations such as uphill and downhill. This task aims to design a 3D tracking module to solve the problem of poor 2D performance.

Purpose

Design a 3D tracker to improve tracking performance

Possible approaches

Autoware also has a bytetracker. I will try the effect of this tracker. If it works well, I will transform this tracker into 3D.

Definition of done

• [ ] Testing the existing bytetracker
• [ ] Add a new 3D tracking package
• [ ] Input and output result adaptation to Autoware topics

[beginningfan]

Sorry for the late update. I was unable to test bytetracker because the yolox module could not generate roi. Today I tested the tracking effect of bytetracker. Even when facing fast-moving pedestrians or being temporarily blocked, it still has a relatively good tracking effect. ID switching will only occur when the target's movement direction changes significantly or disappears for a long time. There is the test video Next I will try to modify the tracking logic of bytetracker to 3D and add it to multi_object_tracker