Object Re-Identification from Point Clouds
Bibliographic record
Abstract
Object re-identification (ReID) from images plays a critical role in application domains of image retrieval (surveillance, retail analytics, etc.) and multi-object tracking (autonomous driving, robotics, etc.). However, systems that additionally or exclusively perceive the world from depth sensors are becoming more commonplace without any corresponding methods for object ReID. In this work, we fill the gap by providing the first large-scale study of object ReID from point clouds and establishing its performance relative to image ReID. To enable such a study, we create two large-scale ReID datasets with paired image and LiDAR observations and propose a lightweight matching head that can be concatenated to any set or sequence processing backbone (e.g., PointNet or ViT), creating a family of comparable object ReID networks for both modalities. Run in Siamese style, our proposed point cloud ReID networks can make thousands of pairwise comparisons in real-time (10 Hz). Our findings demonstrate that their performance increases with higher sensor resolution and approaches that of image ReID when observations are sufficiently dense. Our strongest network trained at the largest scale achieves ReID accuracy exceeding 90% for rigid objects and 85% for deformable objects (without any explicit skeleton normalization). To our knowledge, we are the first to study object re-identification from real point cloud observations. Our code is available at https://github.com/bentherien/point-cloud-reid.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.006 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.002 | 0.002 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.003 |
| Open science | 0.003 | 0.004 |
| Research integrity | 0.002 | 0.002 |
| Insufficient payload (model declined to judge) | 0.004 | 0.005 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".