Does Appearance Help? A Systematic Study of Image-Based Re-Identification in Online 3D Multi-Pedestrian Tracking
LiDAR-based 3D Multi-Object Tracking (MOT) typically relies solely on geometric information, which is often insufficient to distinguish between targets during prolonged occlusions or in crowded human-populated environments. While integrating RGB-based Re-Identification (ReID) offers a theoretical solution for preserving identity context, existing approaches often rely on computationally expensive parallel detectors that hinder real-time robot responsiveness. This work presents a systematic study of image-based ReID in online 3D MOT, utilizing a lightweight projection-based framework to decouple geometric and appearance modeling for mobile robots. A comprehensive analysis of feature extrac...
| Authors | Eduardo Borges, Luís Garrote, Urbano J. Nunes |
|---|---|
| Primary category | cs.CV |
| Published | 5 June 2026 |
| Last updated at source | 5 June 2026 |
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