qcraftai / simtrack

Exploring Simple 3D Multi-Object Tracking for Autonomous Driving (ICCV 2021)
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tracking_batch_hm = (batch_hm + prev_hm[task_id]) / 2.0 #9

Closed JayChan-USTC closed 2 years ago

JayChan-USTC commented 2 years ago

Hi,author! tracking_batch_hm = (batch_hm + prev_hm[task_id]) / 2.0

I don't understand the actual physical meaning of “tracking_batch_hm”.I also don’t understand why we need to execute this way instead of directly using batch_hm or prev_hm?

I have another question that if the displacement of an object is relatively large, then the position of this object in the previous centerness map will be farther away from that in the current centerness map.(In other words, there is no intersection between the representation of this object in the previous centerness map and the current centerness map.)

So after NMS operation, will this object be considered as a new object?