Segmented Velodyne scans are tracked by associating centroids.
Identities of tracked objects become ambiguous after interactions.
An Event Graph  is built to model the interactions.
Appearance information (e.g. from camera) is used to resolve the ambiguity.
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Quadros, A., Morton, P. & Frenkel, A. "On the
Segmentation of 3D LIDAR Point Clouds", IEEE International
Conference on Robotics and Automation, 2011
Morton, P., Douillard, B. & Underwood, J.P. "An
evaluation of dynamic object tracking with 3D LIDAR",
Australasian Conference on Robotics and Automation, 2011
Torabi, A. & Bilodeau, G.-A. "A Multiple Hypothesis
Tracking Method with Fragmentation Handling", Canadian
Conference on Computer and Robot Vision, 2009