Carnegie Mellon University（卡内基梅隆大学）；Xi’an Jiaotong University（西安交通大学）；Nara Institute of Science and Technology（奈良先端科学技术大学院大学）；Fudan University（复旦大学）；Kyoto University（京都大学）
Most of Multiple Object Tracking (MOT) approaches compute individual target features for two subtasks: estimating target-wise motions and conducting pair-wise Re-Identification (Re-ID). Because of the indefinite number of targets among video frames, both subtasks are very difficult to scale up efficiently in end-to-end Deep Neural Networks (DNNs). In this paper, we design an end-to-end DNN tracking approach, Flow-Fuse-Tracker (FFT), that addresses the above issues with two efficient techniques: target flowing and target fusing. Specifically, in target flowing, a FlowTracker DNN module learns the indefinite number of target-wise motions jointly from pixel-level optical flows. In target fusing, a FuseTracker DNN module refines and fuses targets proposed by FlowTracker and frame-wise object detection, instead of trusting either of the two inaccurate sources of target proposal. Because FlowTracker can explore complex target-wise motion patterns and FuseTracker can refine and fuse targets from FlowTracker and detectors, our approach can achieve the state-of-the-art results on several MOT benchmarks. As an online MOT approach, FFT produced the top MOTA of 46.3 on the 2DMOT15, 56.5 on the MOT16, and 56.5 on the MOT17 tracking benchmarks, surpassing all the online and offline methods in existing publications.
German Aerospace Center（德国航空航天中心）；Technical University of Munich（慕尼黑工业大学）；Vienna University of Technology（维也纳技术大学）
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and geometry to estimate object poses. The algorithm extends our previous method ICG, which uses geometry, to additionally consider surface appearance. In general, object surfaces contain local characteristics from text, graphics, and patterns, as well as global differences from distinct materials and colors. To incorporate this visual information, two modalities are …
National Institute of Informatics（国立信息学研究所）；Universitat Politècnica de Catalunya（加泰罗尼亚理工大学）
Current approaches in Multiple Object Tracking (MOT) rely on the spatio-temporal coherence between detections combined with object appearance to match objects from consecutive frames. In this work, we explore MOT using object appearances as the main source of association between objects in a video, using spatial and temporal priors as weighting factors. We form initial tracklets by leveraging on the idea that instances of an object that are close in time should be similar in appearance, and build the final object tracks by fusing the tracklets in a hierarchical fashion. We conduct extensive ex…
While remarkable progress has been made in robust visual tracking, accurate target state estimation still remains a highly challenging problem. In this paper, we argue that this issue is closely related to the prevalent bounding box representation, which provides only a coarse spatial extent of object. Thus an effcient visual tracking framework is proposed to accurately estimate the target state with a finer representation as a set of representative points. The point set is trained to indicate the semantically and geometrically significant positions of target region, enabling more fine-grained…
Robust visual tracking is a challenging computer vision problem, with many real-world applications. Most existing approaches employ hand-crafted appearance features, such as HOG or Color Names. Recently, deep RGB features extracted from convolutional neural networks have been successfully applied for tracking. Despite their success, these features only capture appearance information. On the other hand, motion cues provide discriminative and complementary information that can improve tracking performance. Contrary to visual tracking, deep motion features have been successfully applied for actio…
School of Computer Science and Technology, Nanjing University of Posts and Telecommunications（南京邮电大学计算机科学与技术学院）
In this article, we are concerned with tracking an object of interest in video stream. We propose an algorithm that is robust against occlusion, the presence of confusing colors, abrupt changes in the object feature space and changes in object size. We develop the algorithm within a Bayesian modeling framework. The state space model is used for capturing the temporal correlation in the sequence of frame images by modeling the underlying dynamics of the tracking system. The Bayesian model averaging (BMA) strategy is proposed for fusing multi-clue information in the observations. Any number of o…
Siamese trackers demonstrated high performance in object tracking due to their balance between accuracy and speed. Unlike classification-based CNNs, deep similarity networks are specifically designed to address the image similarity problem, and thus are inherently more appropriate for the tracking task. However, Siamese trackers mainly use the last convolutional layers for similarity analysis and target search, which restricts their performance. In this paper, we argue that using a single convolutional layer as feature representation is not an optimal choice in a deep similarity framework. We …
Southern University of Science and Technology（南方科技大学）；University of Birmingham（伯明翰大学）；University of Electronic Science and Technology of China（电子科技大学）
With the development of depth sensors in recent years, RGBD object tracking has received significant attention. Compared with the traditional RGB object tracking, the addition of the depth modality can effectively solve the target and background interference. However, some existing RGBD trackers use the two modalities separately and thus some particularly useful shared information between them is ignored. On the other hand, some methods attempt to fuse the two modalities by treating them equally, resulting in the missing of modality-specific features. To tackle these limitations, we propose a …
Beihang University（北京航空航天大学）；Ministry of Industry and Information Technology of China（中华人民共和国工业和信息化部）；Beijing Advanced Innovation Center for Big Data-Based Precision Medicine（北京大数据精准医疗高精尖创新中心）
Being able to track an anonymous object, a model-free tracker is comprehensively applicable regardless of the target type. However, designing such a generalized framework is challenged by the lack of object-oriented prior information. As one solution, a real-time model-free object tracking approach is designed in this work relying on Convolutional Neural Networks (CNNs). To overcome the object-centric information scarcity, both appearance and motion features are deeply integrated by the proposed AMNet, which is an end-to-end offline trained two-stream network. Between the two parallel streams,…
The encoding of the target in object tracking moves from the coarse bounding-box to fine-grained segmentation map recently. Revisiting de facto real-time approaches that are capable of predicting mask during tracking, we observed that they usually fork a light branch from the backbone network for segmentation. Although efficient, directly fusing backbone features without considering the negative influence of background clutter tends to introduce false-negative predictions, lagging the segmentation accuracy. To mitigate this problem, we propose an attention retrieval network (ARN) to perform so…
Recent progresses in model-free single object tracking (SOT) algorithms have largely inspired applying SOT to \emph{multi-object tracking} (MOT) to improve the robustness as well as relieving dependency on external detector. However, SOT algorithms are generally designed for distinguishing a target from its environment, and hence meet problems when a target is spatially mixed with similar objects as observed frequently in MOT. To address this issue, in this paper we propose an instance-aware tracker to integrate SOT techniques for MOT by encoding awareness both within and between target models…
Chinese Academy of Sciences（中国科学院）；Institute of Optics and Electronics, Chinese Academy of Sciences（中国科学院光电技术研究所）；University of Chinese Academy of Sciences（中国科学院大学）；TU Kaiserslautern（凯泽斯劳滕工业大学）；University of California, Davis（加州大学戴维斯分校）
Modern visual trackers usually construct online learning models under the assumption that the feature response has a Gaussian distribution with target-centered peak response. Nevertheless, such an assumption is implausible when there is progressive interference from other targets and/or background noise, which produce sub-peaks on the tracking response map and cause model drift. In this paper, we propose a rectified online learning approach for sub-peak response suppression and peak response enforcement and target at handling progressive interference in a systematic way. Our approach, referred…
Jiangnan University（江南大学）；University of Surrey（萨里大学）
We address the problem of multi-modal object tracking in video and explore various options of fusing the complementary information conveyed by the visible (RGB) and thermal infrared (TIR) modalities including pixel-level, feature-level and decision-level fusion. Specifically, different from the existing methods, paradigm of image fusion task is heeded for fusion at pixel level. Feature-level fusion is fulfilled by attention mechanism with channels excited optionally. Besides, at decision level, a novel fusion strategy is put forward since an effortless averaging configuration has shown the sup…
Optical flow computation with frame-based cameras provides high accuracy but the speed is limited either by the model size of the algorithm or by the frame rate of the camera. This makes it inadequate for high-speed applications. Event cameras provide continuous asynchronous event streams overcoming the frame-rate limitation. However, the algorithms for processing the data either borrow frame like setup limiting the speed or suffer from lower accuracy. We fuse the complementary accuracy and speed advantages of the frame and event-based pipelines to provide high-speed optical flow while maintai…
Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects (vehicles), capable of accepting object proposals from different sensor modalities (vision and range) and a variable number of sensors, to produce continuous object tracks. This work is a generalization of the MDP framework for MOT, with some key extensions - First, we track objects across multiple cameras and across different sensor modalities. This is done by fusin…
Nanyang Technological University（南洋理工大学）；SenseTime Research（商汤科技研究院）；University of Oxford（牛津大学）
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…
Watching Swarm Dynamics from Above: A Framework for Advanced Object Tracking in Drone Videos
Technical University Berlin（柏林工业大学）；Leibniz Institute for Freshwater Ecology and Inland Fisheries（莱布尼茨淡水生态与内陆渔业研究所）；Univ. Grenoble Alpes（格勒诺布尔大学）；Inria（法国国家信息与自动化研究所）；CNRS（法国国家科学研究中心）；Grenoble INP（格勒诺布尔理工学院）；Science of Intelligence, Research Cluster of Excellence（科学智慧卓越研究集群）
This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance, area, shape ratio, color histogram) is defined for each tracked object to search for the best matching object. Its best matching object and its state estimated by the Kalman filter are combined to update position and size of the tracked object. However, the mobile object trajectories are usually fragmented because of occlusions and misdetections. Therefore, we a…
OST: Efficient One-stream Network for 3D Single Object Tracking in Point Clouds
School of Mathematical Sciences, Dalian University of Technology（大连理工大学数学科学学院）；School of Economics and Management, China University of Mining and Technology（中国矿业大学经济管理学院）；School of Software, Tsinghua University（清华大学软件学院）；Dalian University of Technology（大连理工大学）
Recent object tracking methods depend upon deep networks or convoluted architectures. Most of those trackers can hardly meet real-time processing requirements on mobile platforms with limited computing resources. In this work, we introduce the Siamese Transformer Pyramid Network (SiamTPN), which inherits the advantages from both CNN and Transformer architectures. Specifically, we exploit the inherent feature pyramid of a lightweight network (ShuffleNetV2) and reinforce it with a Transformer to construct a robust target-specific appearance model. A centralized architecture with lateral cross at…
German Aerospace Center (DLR)（德国航空航天中心）；Technical University of Munich (TUM)（慕尼黑工业大学）
Tracking objects in 3D space and predicting their 6DoF pose is an essential task in computer vision. State-of-the-art approaches often rely on object texture to tackle this problem. However, while they achieve impressive results, many objects do not contain sufficient texture, violating the main underlying assumption. In the following, we thus propose ICG, a novel probabilistic tracker that fuses region and depth information and only requires the object geometry. Our method deploys correspondence lines and points to iteratively refine the pose. We also implement robust occlusion handling to im…
Human motion capture is frequently used to study rehabilitation and clinical problems, as well as to provide realistic animation for the entertainment industry. IMU-based systems, as well as Marker-based motion tracking systems, are the most popular methods to track movement due to their low cost of implementation and lightweight. This paper proposes a quaternion-based Extended Kalman filter approach to recover the human leg segments motions with a set of IMU sensors data fused with camera-marker system data. In this paper, an Extended Kalman Filter approach is developed to fuse the data of tw…
MPI for Intelligent Systems（马克斯·普朗克智能系统研究所）；University of Bonn（波恩大学）
Hand motion capture has been an active research topic in recent years, following the success of full-body pose tracking. Despite similarities, hand tracking proves to be more challenging, characterized by a higher dimensionality, severe occlusions and self-similarity between fingers. For this reason, most approaches rely on strong assumptions, like hands in isolation or expensive multi-camera systems, that limit the practical use. In this work, we propose a framework for hand tracking that can capture the motion of two interacting hands using only a single, inexpensive RGB-D camera. Our approa…
CrossTracker: Robust Multi-modal 3D Multi-Object Tracking via Cross Correction
School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics（南京航空航天大学计算机科学与技术学院）；Collaborative Innovation Center of Novel Software Technology and Industrialization（新型软件技术与产业化协同创新中心）；School of Science and Technology, Hong Kong Metropolitan University（香港都会大学科技学院）；School of Computer Science, Jiangsu University of Technology（江苏理工学院计算机学院）；Delft University of Technology（代尔夫特理工大学）
Despite rapid progress in scene segmentation in recent years, 3D segmentation methods are still limited when there is severe occlusion. The key challenge is estimating the segment boundaries of (partially) occluded objects, which are inherently ambiguous when considering only a single frame. In this work, we propose Multihypothesis Segmentation Tracking (MST), a novel method for volumetric segmentation in changing scenes, which allows scene ambiguity to be tracked and our estimates to be adjusted over time as we interact with the scene. Two main innovations allow us to tackle this difficult pr…
In this paper, we propose a hierarchical feature-aware tracking framework for efficient visual tracking. Recent years, ensembled trackers which combine multiple component trackers have achieved impressive performance. In ensembled trackers, the decision of results is usually a post-event process, i.e., tracking result for each tracker is first obtained and then the suitable one is selected according to result ensemble. In this paper, we propose a pre-event method. We construct an expert pool with each expert being one set of features. For each frame, several experts are first selected in the p…
Computer Vision Center, Universitat Autonoma de Barcelona（巴塞罗那自治大学计算机视觉中心）；Computer Vision Laboratory, ETH Zürich（苏黎世联邦理工学院计算机视觉实验室）；Inception Institute of Artificial Intelligence（inception人工智能研究院）
We propose an end-to-end tracking framework for fusing the RGB and TIR modalities in RGB-T tracking. Our baseline tracker is DiMP (Discriminative Model Prediction), which employs a carefully designed target prediction network trained end-to-end using a discriminative loss. We analyze the effectiveness of modality fusion in each of the main components in DiMP, i.e. feature extractor, target estimation network, and classifier. We consider several fusion mechanisms acting at different levels of the framework, including pixel-level, feature-level and response-level. Our tracker is trained in an en…
Active Adversarial Perturbation-driven Associative Memory Retrieval for RGB-Event Visual Object Tracking
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；School of Electronic and Information Engineering, Anhui University（安徽大学电子信息工程学院）；Peng Cheng Laboratory（鹏城实验室）；Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；School of Computer Science, Peking University（北京大学计算机学院）；School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University（北京大学深圳研究生院电子与计算机工程学院）
Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are often unable to estimate the canonical pose of the objects and exhibit a low object tracking accuracy. To solve this problem we propose TwistSLAM++, a semantic, dynamic, SLAM system that fuses stereo images and LiDAR information. Using semantic information, we track potentially moving objects and associate them to 3D object detections in LiDAR scans to obtain t…
Imperial College London（帝国理工学院）；Technical University of Munich（慕尼黑工业大学）
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D reconstruction object-level map of the environment. Our system can robustly track and reconstruct the geometries of arbitrary objects, their semantics and motion by incrementally fusing associated colour, depth, semantic, and foreground object probabilities into each object model thanks to its robust sensor and object tracking. In addition, when an object is lost or …
This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework is proposed. The detection phase is performed by converting LiDAR streams to computationally tractable depth images, and then, a deep neural network is developed to identify pedestrian candidates both in RGB and depth images. To provide accurate information, the detection phase is further enhanced by fusing multi-modal sensor information using the Kalman filte…
Fudan University（复旦大学）；Meituan（美团）；Shanghai Collaborative Innovation Center on Intelligent Visual Computing（上海智能视觉计算协同创新中心）
Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features from two drastically different modalities. Recent approaches aim at exploring the semantic densities of camera features through lifting points in 2D camera images (referred to as seeds) into 3D space, and then incorporate 2D semantics via cross-modal interaction or fusion techniques. However, depth information is under-investigated in these approaches when …
University of Adelaide（阿德莱德大学）；Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）；Monash University（莫纳什大学）
Semantic aware reconstruction is more advantageous than geometric-only reconstruction for future robotic and AR/VR applications because it represents not only where things are, but also what things are. Object-centric mapping is a task to build an object-level reconstruction where objects are separate and meaningful entities that convey both geometry and semantic information. In this paper, we present MOLTR, a solution to object-centric mapping using only monocular image sequences and camera poses. It is able to localise, track, and reconstruct multiple objects in an online fashion when an RGB…
Guangxi Normal University（广西师范大学）；Huaqiao University（华侨大学）；Harbin Institute of Technology（哈尔滨工业大学）；Peng Cheng Laboratory（鹏城实验室）；Beijing Seetatech Technology（北京中科视拓科技有限公司）；Institute of Automation, CAS（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Centre for Artificial Intelligence and Robotics, HKISI_CAS（香港中科院人工智能与机器人中心）
A practical long-term tracker typically contains three key properties, i.e. an efficient model design, an effective global re-detection strategy and a robust distractor awareness mechanism. However, most state-of-the-art long-term trackers (e.g., Pseudo and re-detecting based ones) do not take all three key properties into account and therefore may either be time-consuming or drift to distractors. To address the issues, we propose a two-task tracking frame work (named DMTrack), which utilizes two core components (i.e., one-shot detection and re-identification (re-id) association) to achieve di…
Modality-Guided Dynamic Graph Fusion and Temporal Diffusion for Self-Supervised RGB-T Tracking
School of Computer Sciences and Technology, China University of Mining and Technology（中国矿业大学计算机科学与技术学院）；Mine Digitization Engineering Research Center of the Ministry of Education, China（教育部 mine 数字化工程研究中心）
With the proliferation of imaging sensors, the volume of multi-modal imagery far exceeds the ability of human analysts to adequately consume and exploit it. Full motion video (FMV) possesses the extra challenge of containing large amounts of redundant temporal data. We aim to address the needs of human analysts to consume and exploit data given aerial FMV. We have investigated and designed a system capable of detecting events and activities of interest that deviate from the baseline patterns of observation given FMV feeds. We have divided the problem into three tasks: (1) Context awareness, (2…
RAGTrack: Language-aware RGBT Tracking with Retrieval-Augmented Generation
College of Command and Control Engineering, Army Engineering University of PLA（中国人民解放军陆军工程大学指挥控制工程学院）；School of Future Technology, Dalian University of Technology（大连理工大学未来技术学院）；School of Information and Communication Engineering, Dalian University of Technology（大连理工大学信息与通信工程学院）
EAVISE KU Leuven - Campus De Nayer（EAVISE 鲁汶大学 - 纳耶尔校区）；KU Leuven - Campus De Nayer（鲁汶大学 - 纳耶尔校区）；EAVISE；KU Leuven（鲁汶大学）
Drones have proven to be useful in many industry segments such as security and surveillance, where e.g. on-board real-time object tracking is a necessity for autonomous flying guards. Tracking and following suspicious objects is therefore required in real-time on limited hardware. With an object detector in the loop, low latency becomes extremely important. In this paper, we propose a solution to make object detection for UAVs both fast and super accurate. We propose a multi-dataset learning strategy yielding top eye-sky object detection accuracy. Our model generalizes well on unseen data and …
Attention-Guided Dual-Stream Learning for Group Engagement Recognition: Fusing Transformer-Encoded Motion Dynamics with Scene Context via Adaptive Gating
In this paper, the task of video panoptic segmentation is studied and two different methods to solve the task will be proposed. Video panoptic segmentation (VPS) is a recently introduced computer vision task that requires classifying and tracking every pixel in a given video. The nature of this task makes the cost of annotating datasets for it prohibiting. To understand video panoptic segmentation, first, earlier introduced constituent tasks that focus on semantics and tracking separately will be researched. Thereafter, two data-driven approaches which do not require training on a tailored VPS…
In this paper, we present DIREG3D, a holistic framework for 3D Hand Tracking. The proposed framework is capable of utilizing camera intrinsic parameters, 3D geometry, intermediate 2D cues, and visual information to regress parameters for accurately representing a Hand Mesh model. Our experiments show that information like the size of the 2D hand, its distance from the optical center, and radial distortion is useful for deriving highly reliable 3D poses in camera space from just monocular information. Furthermore, we extend these results to a multi-view camera setup by fusing features from diff…
