Article

S3KF: Spherical State-Space Kalman Filtering for Panoramic 3D Multi-Object Tracking

The authors propose S3KF, a panoramic 3D multi-object tracking framework based on a motorized rotating LiDAR and a quad-fisheye camera rig. It models object bearing on the unit sphere S^2 using a two-degree-of-freedom tangent-plane parameterization and jointly estimates it with box scale and depth dynamics.

Part of the event: S3KF: A Spherical State-Space Panoramic 3D Multi-Object Tracking Framework

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