Traditionally multi-object tracking and object detection are performed using separate systems with most prior works focusing exclusively on one of these aspects over the other. Tracking systems clearly benefit from having access to accurate detections, however and there is ample evidence in literature that detectors can benefit from tracking which, for example, can help to smooth predictions over time. In this paper we focus on the tracking-by-detection paradigm for autonomous driving where both tasks are mission critical. We propose a conceptually simple and efficient joint model of detection and tracking, called RetinaTrack, which modifies the popular single stage RetinaNet approach such that it is amenable to instance-level embedding training. We show, via evaluations on the Waymo Open Dataset, that we outperform a recent state of the art tracking algorithm while requiring significantly less computation. We believe that our simple yet effective approach can serve as a strong baseline for future work in this area.
Conventional cell tracking methods detect multiple cells in each frame (detection) and then associate the detection results in successive time-frames (association). Most cell tracking methods perform the association task independently from the detection task. However, there is no guarantee of preserving coherence between these tasks, and lack of coherence may adversely affect tracking performance. In this paper, we propose the Motion and Position Map (MPM) that jointly represents both detection and association for not only migration but also cell division. It guarantees coherence such that if …
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））
Tracking living cells in video sequence is difficult, because of cell morphology and high similarities between cells. Tracking-by-detection methods are widely used in multi-cell tracking. We perform multi-cell tracking based on the cell centroid detection, and the performance of the detector has high impact on tracking performance. In this paper, UNet is utilized to extract inter-frame and intra-frame spatio-temporal information of cells. Detection performance of cells in mitotic phase is improved by multi-frame input. Good detection results facilitate multi-cell tracking. A mitosis detection …
Peng Cheng Laboratory（鹏城实验室）；Anhui University（安徽大学）；University of Science and Technology of China（中国科学技术大学）；Peking University（北京大学）
Tracking-by-detection is a very popular framework for single object tracking which attempts to search the target object within a local search window for each frame. Although such local search mechanism works well on simple videos, however, it makes the trackers sensitive to extremely challenging scenarios, such as heavy occlusion and fast motion. In this paper, we propose a novel and general target-aware attention mechanism (termed TANet) and integrate it with tracking-by-detection framework to conduct joint local and global search for robust tracking. Specifically, we extract the features of …
The Hong Kong University of Science and Technology（香港科技大学）
Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid. To benefit from both the powerful object understanding skill from deep neural network meanwhile tackle precise geometry modeling for consistent trajectory estimation, we propose a joint spatial-temporal optimization-based stereo 3D object tracking method. From the network, we detect corresponding 2D bounding boxes on adjacent images and regress an initial 3D bounding box. Dense object cues (local depth and local coo…
This paper introduces a joint learning architecture (JLA) for multiple object tracking (MOT) and trajectory forecasting in which the goal is to predict objects' current and future trajectories simultaneously. Motion prediction is widely used in several state of the art MOT methods to refine predictions in the form of bounding boxes. Typically, a Kalman Filter provides short-term estimations to help trackers correctly predict objects' locations in the current frame. However, the Kalman Filter-based approaches cannot predict non-linear trajectories. We propose to jointly train a tracking and tra…
Data association-based multiple object tracking (MOT) involves multiple separated modules processed or optimized differently, which results in complex method design and requires non-trivial tuning of parameters. In this paper, we present an end-to-end model, named FAMNet, where Feature extraction, Affinity estimation and Multi-dimensional assignment are refined in a single network. All layers in FAMNet are designed differentiable thus can be optimized jointly to learn the discriminative features and higher-order affinity model for robust MOT, which is supervised by the loss directly from the a…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；Aalto University（阿尔托大学）
Real-time simultaneous tracking of hands manipulating and interacting with external objects has many potential applications in augmented reality, tangible computing, and wearable computing. However, due to difficult occlusions, fast motions, and uniform hand appearance, jointly tracking hand and object pose is more challenging than tracking either of the two separately. Many previous approaches resort to complex multi-camera setups to remedy the occlusion problem and often employ expensive segmentation and optimization steps which makes real-time tracking impossible. In this paper, we propose …
Columbia University（哥伦比亚大学）；Sony Group Corporation（索尼集团公司）
We propose a light-weight and highly efficient Joint Detection and Tracking pipeline for the task of Multi-Object Tracking using a fully-transformer architecture. It is a modified version of TransTrack, which overcomes the computational bottleneck associated with its design, and at the same time, achieves state-of-the-art MOTA score of 73.20%. The model design is driven by a transformer based backbone instead of CNN, which is highly scalable with the input resolution. We also propose a drop-in replacement for Feed Forward Network of transformer encoder layer, by using Butterfly Transform Opera…
Current unmanned aerial vehicle (UAV) visual tracking algorithms are primarily limited with respect to: (i) the kind of size variation they can deal with, (ii) the implementation speed which hardly meets the real-time requirement. In this work, a real-time UAV tracking algorithm with powerful size estimation ability is proposed. Specifically, the overall tracking task is allocated to two 2D filters: (i) translation filter for location prediction in the space domain, (ii) size filter for scale and aspect ratio optimization in the size domain. Besides, an efficient two-stage re-detection strateg…
Object detection and data association are critical components in multi-object tracking (MOT) systems. Despite the fact that the two components are dependent on each other, prior works often design detection and data association modules separately which are trained with separate objectives. As a result, one cannot back-propagate the gradients and optimize the entire MOT system, which leads to sub-optimal performance. To address this issue, recent works simultaneously optimize detection and data association modules under a joint MOT framework, which has shown improved performance in both modules…
Joint Counting, Detection and Re-Identification for Multi-Object Tracking
Shenzhen Duorou Intelligent System Co., Ltd.（深圳多柔智能系统有限公司）；School of Electrical Engineering, Xi’an Jiaotong University（西安交通大学电气工程学院）；State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science（中国科学院沈阳自动化研究所机器人国家重点实验室）
Jiangnan University（江南大学）；University of Surrey（萨里大学）
We propose a new Group Feature Selection method for Discriminative Correlation Filters (GFS-DCF) based visual object tracking. The key innovation of the proposed method is to perform group feature selection across both channel and spatial dimensions, thus to pinpoint the structural relevance of multi-channel features to the filtering system. In contrast to the widely used spatial regularisation or feature selection methods, to the best of our knowledge, this is the first time that channel selection has been advocated for DCF-based tracking. We demonstrate that our GFS-DCF method is able to sig…
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Peng Cheng Laboratory（鹏城实验室）
Visual object tracking acts as a pivotal component in various emerging video applications. Despite the numerous developments in visual tracking, existing deep trackers are still likely to fail when tracking against objects with dramatic variation. These deep trackers usually do not perform online update or update single sub-branch of the tracking model, for which they cannot adapt to the appearance variation of objects. Efficient updating methods are therefore crucial for tracking while previous meta-updater optimizes trackers directly over parameter space, which is prone to over-fit even coll…
The recent trend in multiple object tracking (MOT) is heading towards leveraging deep learning to boost the tracking performance. In this paper, we propose a novel solution named TransSTAM, which leverages Transformer to effectively model both the appearance features of each object and the spatial-temporal relationships among objects. TransSTAM consists of two major parts: (1) The encoder utilizes the powerful self-attention mechanism of Transformer to learn discriminative features for each tracklet; (2) The decoder adopts the standard cross-attention mechanism to model the affinities between …
Dalian University of Technology（大连理工大学）；SRI International（斯坦福国际研究院）
Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking performance, especially in degraded conditions (e.g., scenes with high dynamic range, low light, and fast-motion objects). The proposed approach can effectively and adaptively combine meaningful information from both domains. Our approach's effectiveness is enforced by a novel designed cross-domain attention schemes, which can effectively enhance features based on…
Laboratoire Jean-Perrin UMR 8237, Sorbonne Université（索邦大学让-佩兰实验室）；SABILAb；CMAP, Ecole Polytechnique, Université Paris-Saclay（巴黎萨克雷大学综合理工学院应用数学中心）；Heuritech
The mother machine is a popular microfluidic device that allows long-term time-lapse imaging of thousands of cells in parallel by microscopy. It has become a valuable tool for single-cell level quantitative analysis and characterization of many cellular processes such as gene expression and regulation, mutagenesis or response to antibiotics. The automated and quantitative analysis of the massive amount of data generated by such experiments is now the limiting step. In particular the segmentation and tracking of bacteria cells imaged in phase-contrast microscopy---with error rates compatible wi…
Dalian University of Technology（大连理工大学）；University of California, Merced（加州大学默塞德分校）
For visual tracking, an ideal filter learned by the correlation filter (CF) method should take both discrimination and reliability information. However, existing attempts usually focus on the former one while pay less attention to reliability learning. This may make the learned filter be dominated by the unexpected salient regions on the feature map, thereby resulting in model degradation. To address this issue, we propose a novel CF-based optimization problem to jointly model the discrimination and reliability information. First, we treat the filter as the element-wise product of a base filte…
University at Albany, State University of New York（纽约州立大学奥尔巴尼分校）
We present a bootstrapping framework to simultaneously improve multi-person tracking and activity recognition at individual, interaction and social group activity levels. The inference consists of identifying trajectories of all pedestrian actors, individual activities, pairwise interactions, and collective activities, given the observed pedestrian detections. Our method uses a graphical model to represent and solve the joint tracking and recognition problems via multi-stages: (1) activity-aware tracking, (2) joint interaction recognition and occlusion recovery, and (3) collective activity rec…
Visual tracking is typically solved as a discriminative learning problem that usually requires high-quality samples for online model adaptation. It is a critical and challenging problem to evaluate the training samples collected from previous predictions and employ sample selection by their quality to train the model. To tackle the above problem, we propose a joint discriminative learning scheme with the progressive multi-stage optimization policy of sample selection for robust visual tracking. The proposed scheme presents a novel time-weighted and detection-guided self-paced learning strategy…
In this paper, we propose a robust visual tracking method which exploits the relationships of targets in adjacent frames using patchwise joint sparse representation. Two sets of overlapping patches with different sizes are extracted from target candidates to construct two dictionaries with consideration of joint sparse representation. By applying this representation into structural sparse appearance model, we can take two-fold advantages. First, the correlation of target patches over time is considered. Second, using this local appearance model with different patch sizes takes into account loc…
Huazhong University of Science and Technology（华中科技大学）；University of Florida（佛罗里达大学）；Wuhan University（武汉大学）；Nanjing University of Posts and Telecommunications（南京邮电大学）；UBTech Sydney Artificial Intelligence Institute（优必选悉尼人工智能研究院）；The University of Sydney（悉尼大学）
It remains a huge challenge to design effective and efficient trackers under complex scenarios, including occlusions, illumination changes and pose variations. To cope with this problem, a promising solution is to integrate the temporal consistency across consecutive frames and multiple feature cues in a unified model. Motivated by this idea, we propose a novel correlation filter-based tracker in this work, in which the temporal relatedness is reconciled under a multi-task learning framework and the multiple feature cues are modeled using a multi-view learning approach. We demonstrate the resu…
GOT-JEPA: Generic Object Tracking with Model Adaptation and Occlusion Handling using Joint-Embedding Predictive Architecture
Department of Computer Science, National Yang Ming Chiao Tung University（国家阳明交通大学计算机科学系）；Research Center for Information Technology Innovation, Academia Sinica（中华学术院信息技术创新研究中心）；Microsoft AI（微软人工智能）
University of California, Merced（加州大学默塞德分校）；NVIDIA（英伟达）；Carnegie Mellon University（卡内基梅隆大学）
This paper proposes to learn reliable dense correspondence from videos in a self-supervised manner. Our learning process integrates two highly related tasks: tracking large image regions \emph{and} establishing fine-grained pixel-level associations between consecutive video frames. We exploit the synergy between both tasks through a shared inter-frame affinity matrix, which simultaneously models transitions between video frames at both the region- and pixel-levels. While region-level localization helps reduce ambiguities in fine-grained matching by narrowing down search regions; fine-grained m…
Recent tracking-by-detection approaches use deep object detectors as target detection baseline, because of their high performance on still images. For effective video object tracking, object detection is integrated with a data association step performed by either a custom design inference architecture or an end-to-end joint training for tracking purpose. In this work, we adopt the former approach and use the pre-trained Mask R-CNN deep object detector as the baseline. We introduce a novel inference architecture placed on top of FPN-ResNet101 backbone of Mask R-CNN to jointly perform detection …
Tencent AI Lab（腾讯人工智能实验室）；Tencent Robotics X（腾讯Robotics X实验室）
Robust and accurate planar tracking over a whole video sequence is vitally important for many vision applications. The key to planar object tracking is to find object correspondences, modeled by homography, between the reference image and the tracked image. Existing methods tend to obtain wrong correspondences with changing appearance variations, camera-object relative motions and occlusions. To alleviate this problem, we present a unified convolutional neural network (CNN) model that jointly considers homography, visibility, and confidence. First, we introduce correlation blocks that explicit…
Object motion and object appearance are commonly used information in multiple object tracking (MOT) applications, either for associating detections across frames in tracking-by-detection methods or direct track predictions for joint-detection-and-tracking methods. However, not only are these two types of information often considered separately, but also they do not help optimize the usage of visual information from the current frame of interest directly. In this paper, we present PatchTrack, a Transformer-based joint-detection-and-tracking system that predicts tracks using patches of the curre…
We present our 1st place solution to the Group Dance Multiple People Tracking Challenge. Based on MOTR: End-to-End Multiple-Object Tracking with Transformer, we explore: 1) detect queries as anchors, 2) tracking as query denoising, 3) joint training on pseudo video clips generated from CrowdHuman dataset, and 4) using the YOLOX detection proposals for the anchor initialization of detect queries. Our method achieves 73.4% HOTA on the DanceTrack test set, surpassing the second-place solution by +6.8% HOTA.
Instituto Maimónides de Investigación en Biomedicina (IMIBIC)（迈蒙尼德生物医学研究所（IMIBIC））；Córdoba University（科尔多瓦大学）；HT Médica（HT医疗公司）；Hospital San Juan de Dios（圣胡安·德·迪奥斯医院）；Clínica las Nieves（拉斯涅韦斯诊所）
BACKGROUND AND OBJECTIVE: The research done in the field of Augmented Reality (AR) for patient positioning in radiation therapy is scarce. We propose an efficient and cost-effective algorithm for tracking the scene and the patient to interactively assist the patient's positioning process by providing visual feedback to the operator. Up to our knowledge, this is the first framework that can be employed for mobile interactive AR to guide patient positioning. METHODS: We propose a point cloud processing method that combined with a fiducial marker-mapper algorithm and the generalized ICP algorithm…
Microsoft Research（微软研究院）；Zhejiang University（浙江大学）；Microsoft Research Asia（微软亚洲研究院）
We present a method for human pose tracking that is based on learning spatiotemporal relationships among joints. Beyond generating the heatmap of a joint in a given frame, our system also learns to predict the offset of the joint from a neighboring joint in the frame. Additionally, it is trained to predict the displacement of the joint from its position in the previous frame, in a manner that can account for possibly changing joint appearance, unlike optical flow. These relational cues in the spatial domain and temporal domain are inferred in a robust manner by attending only to relevant areas…
Southern University of Science and Technology（南方科技大学）；Sifakis Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology（南方科技大学西法基斯可信自主系统研究院）；Pazhou Lab（琶洲实验室）
Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint detection and tracking schemes and robust data association for autonomous driving applications. The novelty of this work includes: (1) development of an end-to-end deep neural network for joint object detection and correlation using 2D and 3D measurements; (2) development of a robust affinity computation module to compute occlusion-aware appearance and motion affini…
Hanyang University（汉阳大学）；Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院）
In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker to cooperate to generate a spatio-temporal representation of the camera and LiDAR data, with which 3D object detection and tracking are then performed. The detector constructs the spatio-temporal features via the weighted temporal aggregation of the spatial features obtained by the camera and LiDAR fusion. Then, the detector reconfigures the initial detecti…
University of Freiburg（弗莱堡大学）；Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
Recently, Minimum Cost Multicut Formulations have been proposed and proven to be successful in both motion trajectory segmentation and multi-target tracking scenarios. Both tasks benefit from decomposing a graphical model into an optimal number of connected components based on attractive and repulsive pairwise terms. The two tasks are formulated on different levels of granularity and, accordingly, leverage mostly local information for motion segmentation and mostly high-level information for multi-target tracking. In this paper we argue that point trajectories and their local relationships can…
Multi-object tracking (MOT) has made great progress in recent years, but there are still some problems. Most MOT algorithms follow tracking-by-detection framework, which separates detection and tracking into two independent parts. Early tracking-by-detection algorithms need to do two feature extractions for detection and tracking. Recently, some algorithms make the feature extraction into one network, but the tracking part still relies on data association and needs complex post-processing for life cycle management. Those methods do not combine detection and tracking well. In this paper, we pre…
In this work we propose an online multi person pose tracking approach which works on two consecutive frames $I_{t-1}$ and $I_t$. The general formulation of our temporal network allows to rely on any multi person pose estimation approach as spatial network. From the spatial network we extract image features and pose features for both frames. These features serve as input for our temporal model that predicts Temporal Flow Fields (TFF). These TFF are vector fields which indicate the direction in which each body joint is going to move from frame $I_{t-1}$ to frame $I_t$. This novel representation …
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Peng Cheng Laboratory（鹏城实验室）
Tracking by natural language specification aims to locate the referred target in a sequence based on the natural language description. Existing algorithms solve this issue in two steps, visual grounding and tracking, and accordingly deploy the separated grounding model and tracking model to implement these two steps, respectively. Such a separated framework overlooks the link between visual grounding and tracking, which is that the natural language descriptions provide global semantic cues for localizing the target for both two steps. Besides, the separated framework can hardly be trained end-…
Peking University（北京大学）；Beijing Institute for General AI（北京通用人工智能研究院）；Virginia Tech（弗吉尼亚理工大学）；Stanford University（斯坦福大学）；Tsinghua University（清华大学）；Columbia University（哥伦比亚大学）
In this work, we tackle the challenging task of jointly tracking hand object pose and reconstructing their shapes from depth point cloud sequences in the wild, given the initial poses at frame 0. We for the first time propose a point cloud based hand joint tracking network, HandTrackNet, to estimate the inter-frame hand joint motion. Our HandTrackNet proposes a novel hand pose canonicalization module to ease the tracking task, yielding accurate and robust hand joint tracking. Our pipeline then reconstructs the full hand via converting the predicted hand joints into a template-based parametric …
This paper proposes a novel framework for fluorescence plant video processing. The plant research community is interested in the leaf-level photosynthetic analysis within a plant. A prerequisite for such analysis is to segment all leaves, estimate their structures, and track them over time. We identify this as a joint multi-leaf segmentation, alignment, and tracking problem. First, leaf segmentation and alignment are applied on the last frame of a plant video to find a number of well-aligned leaf candidates. Second, leaf tracking is applied on the remaining frames with leaf candidate transform…
OSRAM GmbH（欧司朗有限公司）；Technische Universität München（慕尼黑工业大学）；Sapienza University of Rome（罗马第一大学）
Recent works have shown that combining object detection and tracking tasks, in the case of video data, results in higher performance for both tasks, but they require a high frame-rate as a strict requirement for performance. This is assumption is often violated in real-world applications, when models run on embedded devices, often at only a few frames per second. Videos at low frame-rate suffer from large object displacements. Here re-identification features may support to match large-displaced object detections, but current joint detection and re-identification formulations degrade the detect…
Università degli Studi di Genova（热那亚大学）；MaLGa Machine Learning Genoa Center（MaLGa热那亚机器学习中心）
Object detection and tracking in videos represent essential and computationally demanding building blocks for current and future visual perception systems. In order to reduce the efficiency gap between available methods and computational requirements of real-world applications, we propose to re-think one of the most successful methods for image object detection, Faster R-CNN, and extend it to the video domain. Specifically, we extend the detection framework to learn instance-level embeddings which prove beneficial for data association and re-identification purposes. Focusing on the computation…
University of Bonn（波恩大学）；University of Adelaide（阿德莱德大学）
In this work, we introduce the challenging problem of joint multi-person pose estimation and tracking of an unknown number of persons in unconstrained videos. Existing methods for multi-person pose estimation in images cannot be applied directly to this problem, since it also requires to solve the problem of person association over time in addition to the pose estimation for each person. We therefore propose a novel method that jointly models multi-person pose estimation and tracking in a single formulation. To this end, we represent body joint detections in a video by a spatio-temporal graph …
We propose a novel top-down approach that tackles the problem of multi-person human pose estimation and tracking in videos. In contrast to existing top-down approaches, our method is not limited by the performance of its person detector and can predict the poses of person instances not localized. It achieves this capability by propagating known person locations forward and backward in time and searching for poses in those regions. Our approach consists of three components: (i) a Clip Tracking Network that performs body joint detection and tracking simultaneously on small video clips; (ii) a Vi…
University of Central Florida（中佛罗里达大学）；University of Western Australia（西澳大学）
We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a single end-to-end trainable network eliminating the dependency on external object detectors. Our model exploits temporal information employing multiple frames to detect objects and track them in a single network, thereby making it a utilitarian formulation for real-world scenarios. Computing affinity matrix by employing features similarity across consecutive …
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets, measurements and propagation paths is unknown. In order to effectively utilize multipath measurements from one target to improve detection and tracking performance, a tracker has to handle high-dimensional estimation of latent variables including target active/dormant meta-state, target kinematic state, and multipath data association. Based on variational Bayesian infe…
While separately leveraging monocular 3D object detection and 2D multi-object tracking can be straightforwardly applied to sequence images in a frame-by-frame fashion, stand-alone tracker cuts off the transmission of the uncertainty from the 3D detector to tracking while cannot pass tracking error differentials back to the 3D detector. In this work, we propose jointly training 3D detection and 3D tracking from only monocular videos in an end-to-end manner. The key component is a novel spatial-temporal information flow module that aggregates geometric and appearance features to predict robust s…
Harbin Institute of Technology（哈尔滨工业大学）；University of Pittsburgh（匹兹堡大学）；Institute of Computing Technology, CAS（中国科学院计算技术研究所）
Correlation filter (CF) based trackers generally include two modules, i.e., feature representation and on-line model adaptation. In existing off-line deep learning models for CF trackers, the model adaptation usually is either abandoned or has closed-form solution to make it feasible to learn deep representation in an end-to-end manner. However, such solutions fail to exploit the advances in CF models, and cannot achieve competitive accuracy in comparison with the state-of-the-art CF trackers. In this paper, we investigate the joint learning of deep representation and model adaptation, where a…
University of Science and Technology of China（中国科学技术大学）；Tencent AI Lab（腾讯人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）
Correlation filters (CF) have received considerable attention in visual tracking because of their computational efficiency. Leveraging deep features via off-the-shelf CNN models (e.g., VGG), CF trackers achieve state-of-the-art performance while consuming a large number of computing resources. This limits deep CF trackers to be deployed to many mobile platforms on which only a single-core CPU is available. In this paper, we propose to jointly compress and transfer off-the-shelf CNN models within a knowledge distillation framework. We formulate a CNN model pretrained from the image classificati…
Recent research in multi-task learning reveals the benefit of solving related problems in a single neural network. 3D object detection and multi-object tracking (MOT) are two heavily intertwined problems predicting and associating an object instance location across time. However, most previous works in 3D MOT treat the detector as a preceding separated pipeline, disjointly taking the output of the detector as an input to the tracker. In this work, we present Minkowski Tracker, a sparse spatio-temporal R-CNN that jointly solves object detection and tracking. Inspired by region-based CNN (R-CNN)…
National Tsing Hua University（国立清华大学）；Sinovation Ventures AI Institute（创新工场人工智能研究院）；UC Berkeley（加州大学伯克利分校）；MIT（麻省理工学院）；UT Austin（得克萨斯大学奥斯汀分校）
Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle detection and tracking from monocular videos. The framework can not only associate detections of vehicles in motion over time, but also estimate their complete 3D bounding box information from a sequence of 2D images captured on a moving platform. Our method leverages 3D box depth-ordering matching for robust instance association and utilizes 3D trajectory predictio…
University of Amsterdam（阿姆斯特丹大学）；The University of Tokyo（东京大学）
Detecting tiny objects in a high-resolution video is challenging because the visual information is little and unreliable. Specifically, the challenge includes very low resolution of the objects, MPEG artifacts due to compression and a large searching area with many hard negatives. Tracking is equally difficult because of the unreliable appearance, and the unreliable motion estimation. Luckily, we found that by combining this two challenging tasks together, there will be mutual benefits. Following the idea, in this paper, we present a neural network model called the Recurrent Correlational Netw…
The University of Tokyo（东京大学）；CSIRO-Data61（澳大利亚联邦科学与工业研究组织数据61中心）；Australian National University（澳大利亚国立大学）
While generic object detection has achieved large improvements with rich feature hierarchies from deep nets, detecting small objects with poor visual cues remains challenging. Motion cues from multiple frames may be more informative for detecting such hard-to-distinguish objects in each frame. However, how to encode discriminative motion patterns, such as deformations and pose changes that characterize objects, has remained an open question. To learn them and thereby realize small object detection, we present a neural model called the Recurrent Correlational Network, where detection and tracki…
University of Modena and Reggio Emilia（摩德纳和雷焦艾米利亚大学）
Multi-People Tracking in an open-world setting requires a special effort in precise detection. Moreover, temporal continuity in the detection phase gains more importance when scene cluttering introduces the challenging problems of occluded targets. For the purpose, we propose a deep network architecture that jointly extracts people body parts and associates them across short temporal spans. Our model explicitly deals with occluded body parts, by hallucinating plausible solutions of not visible joints. We propose a new end-to-end architecture composed by four branches (visible heatmaps, occlude…
We present a novel approach for estimating the 2D pose of an articulated object with an application to automated video analysis of small laboratory animals. We have found that deformable part models developed for humans, exemplified by the flexible mixture of parts (FMP) model, typically fail on challenging animal poses. We argue that beyond encoding appearance and spatial relations, shape is needed to overcome the lack of distinctive landmarks on laboratory animal bodies. In our approach, a shape consistent FMP (scFMP) model computes promising pose candidates after a standard FMP model is use…
University of Chinese Academy of Sciences（中国科学院大学）
The current popular two-stream, two-stage tracking framework extracts the template and the search region features separately and then performs relation modeling, thus the extracted features lack the awareness of the target and have limited target-background discriminability. To tackle the above issue, we propose a novel one-stream tracking (OSTrack) framework that unifies feature learning and relation modeling by bridging the template-search image pairs with bidirectional information flows. In this way, discriminative target-oriented features can be dynamically extracted by mutual guidance. Si…
