{"id":"https://openalex.org/W4389665756","doi":"https://doi.org/10.1109/iros55552.2023.10341778","title":"Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking","display_name":"Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665756","doi":"https://doi.org/10.1109/iros55552.2023.10341778"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100455533","display_name":"Xiaoyu Li","orcid":"https://orcid.org/0009-0008-3062-9594"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Li","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050985620","display_name":"Tao Xie","orcid":"https://orcid.org/0000-0002-4179-2898"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Xie","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062785978","display_name":"Dedong Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dedong Liu","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102800214","display_name":"Jinghan Gao","orcid":"https://orcid.org/0000-0001-9315-5180"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinghan Gao","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062787869","display_name":"Kun Dai","orcid":"https://orcid.org/0000-0002-6714-3394"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Dai","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044025518","display_name":"Zhiqiang Jiang","orcid":"https://orcid.org/0009-0000-3890-7220"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Jiang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045865179","display_name":"Lijun Zhao","orcid":"https://orcid.org/0000-0002-9108-8276"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhao","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100693413","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0002-5615-0847"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150006","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9391","last_page":"9398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7827993631362915},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6613916754722595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.650234580039978},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6445186138153076},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6225184798240662},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.591813325881958},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5730011463165283},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.560050368309021},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5225179195404053},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47022318840026855},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.44200462102890015},{"id":"https://openalex.org/keywords/match-moving","display_name":"Match moving","score":0.41493383049964905},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1503981649875641},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10151398181915283}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7827993631362915},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6613916754722595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.650234580039978},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6445186138153076},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6225184798240662},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.591813325881958},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5730011463165283},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.560050368309021},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5225179195404053},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47022318840026855},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.44200462102890015},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.41493383049964905},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1503981649875641},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10151398181915283},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6488581878","display_name":null,"funder_award_id":"62073101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2222512263","https://openalex.org/W2252355370","https://openalex.org/W2603203130","https://openalex.org/W2962803115","https://openalex.org/W2964241181","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3084173793","https://openalex.org/W3095753995","https://openalex.org/W3104218139","https://openalex.org/W3132607695","https://openalex.org/W3167095230","https://openalex.org/W3181852566","https://openalex.org/W3190141195","https://openalex.org/W3206199195","https://openalex.org/W4226100504","https://openalex.org/W4286904999","https://openalex.org/W4293255939","https://openalex.org/W4295331127","https://openalex.org/W4312707458","https://openalex.org/W4313149358","https://openalex.org/W4320736629","https://openalex.org/W4382203297","https://openalex.org/W4383066393","https://openalex.org/W4386076221","https://openalex.org/W4386315006","https://openalex.org/W6631313198","https://openalex.org/W6839131839","https://openalex.org/W6841703415"],"related_works":["https://openalex.org/W2375480909","https://openalex.org/W2353314428","https://openalex.org/W2807251790","https://openalex.org/W2012019886","https://openalex.org/W2166090428","https://openalex.org/W2381021552","https://openalex.org/W2338820443","https://openalex.org/W2359434423","https://openalex.org/W2101683776","https://openalex.org/W2610656789"],"abstract_inverted_index":{"3D":[0,24,111],"Multi-object":[1],"tracking":[2,128],"(MOT)":[3],"empowers":[4],"mobile":[5],"robots":[6],"to":[7,36,79,123,144,167,185],"accomplish":[8],"well-informed":[9],"motion":[10,17,67,138,149,165,173],"planning":[11],"and":[12,33,40,50,66,92,94,202],"navigation":[13],"tasks":[14,100],"by":[15],"providing":[16],"trajectories":[18,91],"of":[19,57,98,148,156,160,174],"surrounding":[20],"objects.":[21,45],"However,":[22],"existing":[23],"MOT":[25,112],"methods":[26],"typically":[27],"employ":[28],"a":[29,55,163,180],"single":[30],"similarity":[31,193],"metric":[32,194],"physical":[34],"model":[35,166],"perform":[37],"data":[38,182],"association":[39,183],"state":[41],"estimation":[42],"for":[43,130,140,199],"all":[44],"With":[46],"large-scale":[47],"modern":[48],"datasets":[49],"real":[51],"scenes,":[52],"there":[53],"are":[54],"variety":[56],"object":[58,77,132,142],"categories":[59,78,143,201],"that":[60,119,187],"commonly":[61],"exhibit":[62],"distinctive":[63],"geometric":[64],"properties":[65],"patterns.":[68],"In":[69],"this":[70,104],"way,":[71],"such":[72],"distinctions":[73],"would":[74],"enable":[75],"various":[76,141],"behave":[80],"differently":[81],"under":[82],"the":[83,96,116,121,125,154,157,170,175,191,207],"same":[84],"standard,":[85],"resulting":[86],"in":[87],"erroneous":[88],"matches":[89],"between":[90],"detections,":[93],"jeopardizing":[95],"reliability":[97],"downstream":[99],"(navigation,":[101],"etc.).":[102],"Towards":[103],"end,":[105],"we":[106,178],"propose":[107],"Poly-MOT,":[108],"an":[109],"efficient":[110],"method":[113,212],"based":[114],"on":[115],"Tracking-By-Detection":[117],"framework":[118],"enables":[120],"tracker":[122],"choose":[124],"most":[126],"appropriate":[127],"criteria":[129],"each":[131],"category.":[133],"Specifically,":[134],"Poly-MOT":[135],"leverages":[136],"different":[137],"models":[139],"characterize":[145],"distinct":[146],"types":[147],"accurately.":[150],"We":[151],"also":[152],"introduce":[153,179],"constraint":[155],"rigid":[158],"structure":[159],"objects":[161,188],"into":[162],"specific":[164],"accurately":[168],"describe":[169],"highly":[171],"nonlinear":[172],"object.":[176],"Additionally,":[177],"two-stage":[181],"strategy":[184],"ensure":[186],"can":[189],"find":[190],"optimal":[192],"from":[195],"three":[196],"custom":[197],"metrics":[198],"their":[200],"reduce":[203],"missing":[204],"matches.":[205],"On":[206],"NuScenes":[208],"dataset,":[209],"our":[210],"proposed":[211],"achieves":[213],"state-of-the-art":[214],"performance":[215],"with":[216],"75.4%":[217],"AMOTA.":[218],"The":[219],"code":[220],"is":[221],"available":[222],"at":[223],"https://github.com/lixiaoyu20001P0Iy-MOT.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":22}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}