Transformers for Multi-Object Tracking on Point Clouds

We present TransMOT, a novel transformer-based end-to-end trainable online tracker and detector for point cloud data. The model utilizes a cross- and a self-attention mechanism and is applicable to lidar data in an automotive context, as well as other data types, such as radar. Both track management and the detection of new tracks are performed by the same transformer decoder module and the tra…