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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/cvfehsbm2ansasteb7vhfeius
- Original: https://arxiv.org/abs/2603.27534

## Summary

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.