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Added by
Shoudong Han
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even the tracklet purity, especially for small objects. Although re-identification is often employed, due to noisy partial-detections, similar appearance, and lack of temporal-spatial constraints, it is not only unreliable and time-consuming, but still cannot address the false negatives for occluded and blurred objects. In this paper, we propose an enhanced MOT paradigm, namely Motion-Aware Tracker (MAT), focusing more on various motion patterns of different objects. The rigid camera motion and nonrigid pedestrian motion are blended compatibly to form the integrated motion localization module. Meanwhile, we introduce the dynamic reconnection context module, which aims to balance the robustness of long-range motion-based reconnection, and includes the cyclic pseudo-observation updating strategy to smoothly fill in the tracking fragments caused by occlusion or blur. Additionally, the 3D integral image module is presented to efficiently cut useless track-detection association connections with temporal-spatial constraints. Extensive experiments on MOT16 and MOT17 challenging benchmarks demonstrate that our MAT approach can achieve the superior performance by a large margin with high efficiency, in contrast to other state-of-the-art trackers.
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Multiple object tracking (MOT) is a crucial task in computer vision society. However, most tracking-by-detection MOT methods, with available detected bounding boxes, cannot effectively handle static, slow-moving and fast-moving camera scenarios simultaneously due to ego-motion and frequent occlusion. In this work, we propose a novel tracking framework, called instance-aware MOT (IA-MOT), that can track multiple objects in either static or moving cameras by jointly considering the instance-level features and object motions. First, robust appearance features are extracted from a variant of Mask R-CNN detector with an additional embedding head, by sending the given detections as the region proposals. Meanwhile, the spatial attention, which focuses on the foreground within the bounding boxes, is generated from the given instance masks and applied to the extracted embedding features. In the tracking stage, object instance masks are aligned by feature similarity and motion consistency using the Hungarian association algorithm. Moreover, object re-identification (ReID) is incorporated to recover ID switches caused by long-term occlusion or missing detection. Overall, when evaluated on the MOTS20 and KITTI-MOTS dataset, our proposed method won the first place in Track 3 of the BMTT Challenge in CVPR2020 workshops.
Modern multi-object tracking (MOT) system usually involves separated modules, such as motion model for location and appearance model for data association. However, the compatible problems within both motion and appearance models are always ignored. In this paper, a general architecture named as MIF is presented by seamlessly blending the Motion integration, three-dimensional(3D) Integral image and adaptive appearance feature Fusion. Since the uncertain pedestrian and camera motions are usually handled separately, the integrated motion model is designed using our defined intension of camera motion. Specifically, a 3D integral image based spatial blocking method is presented to efficiently cut useless connections between trajectories and candidates with spatial constraints. Then the appearance model and visibility prediction are jointly built. Considering scale, pose and visibility, the appearance features are adaptively fused to overcome the feature misalignment problem. Our MIF based tracker (MIFT) achieves the state-of-the-art accuracy with 60.1 MOTA on both MOT16&17 challenges.
Multi-Object Tracking (MOT) is a popular topic in computer vision. However, identity issue, i.e., an object is wrongly associated with another object of a different identity, still remains to be a challenging problem. To address it, switchers, i.e., confusing targets thatmay cause identity issues, should be focused. Based on this motivation,this paper proposes a novel switcher-aware framework for multi-object tracking, which consists of Spatial Conflict Graph model (SCG) and Switcher-Aware Association (SAA). The SCG eliminates spatial switch-ers within one frame by building a conflict graph and working out the optimal subgraph. The SAA utilizes additional information from potential temporal switcher across frames, enabling more accurate data association. Besides, we propose a new MOT evaluation measure, Still Another IDF score (SAIDF), aiming to focus more on identity issues.This new measure may overcome some problems of the previous measures and provide a better insight for identity issues in MOT. Finally,the proposed framework is tested under both the traditional measures and the new measure we proposed. Extensive experiments show that ourmethod achieves competitive results on all measure.
Visual object tracking (VOT) is an essential component for many applications, such as autonomous driving or assistive robotics. However, recent works tend to develop accurate systems based on more computationally expensive feature extractors for better instance matching. In contrast, this work addresses the importance of motion prediction in VOT. We use an off-the-shelf object detector to obtain instance bounding boxes. Then, a combination of camera motion decouple and Kalman filter is used for state estimation. Although our baseline system is a straightforward combination of standard methods, we obtain state-of-the-art results. Our method establishes new state-of-the-art performance on VOT (VOT-2016 and VOT-2018). Our proposed method improves the EAO on VOT-2016 from 0.472 of prior art to 0.505, from 0.410 to 0.431 on VOT-2018. To show the generalizability, we also test our method on video object segmentation (VOS: DAVIS-2016 and DAVIS-2017) and observe consistent improvement.
Multi-sensor perception is crucial to ensure the reliability and accuracy in autonomous driving system, while multi-object tracking (MOT) improves that by tracing sequential movement of dynamic objects. Most current approaches for multi-sensor multi-object tracking are either lack of reliability by tightly relying on a single input source (e.g., center camera), or not accurate enough by fusing the results from multiple sensors in post processing without fully exploiting the inherent information. In this study, we design a generic sensor-agnostic multi-modality MOT framework (mmMOT), where each modality (i.e., sensors) is capable of performing its role independently to preserve reliability, and further improving its accuracy through a novel multi-modality fusion module. Our mmMOT can be trained in an end-to-end manner, enables joint optimization for the base feature extractor of each modality and an adjacency estimator for cross modality. Our mmMOT also makes the first attempt to encode deep representation of point cloud in data association process in MOT. We conduct extensive experiments to evaluate the effectiveness of the proposed framework on the challenging KITTI benchmark and report state-of-the-art performance. Code and models are available at https://github.com/ZwwWayne/mmMOT.
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