Most modern multi-object tracking (MOT) systems follow the tracking-by-detection paradigm. It first localizes the objects of interest, then extracting their individual appearance features to make data association. The individual features, however, are susceptible to the negative effects as occlusions, illumination variations and inaccurate detections, thus resulting in the mismatch in the association inference. In this work, we propose to handle this problem via making full use of the neighboring information. Our motivations derive from the observations that people tend to move in a group. As such, when an individual target's appearance is seriously changed, we can still identify it with the help of its neighbors. To this end, we first utilize the spatio-temporal relations produced by the tracking self to efficiently select suitable neighbors for the targets. Subsequently, we construct neighbor graph of the target and neighbors then employ the graph convolution networks (GCN) to learn the graph features. To the best of our knowledge, it is the first time to exploit neighbor cues via GCN in MOT. Finally, we test our approach on the MOT benchmarks and achieve state-of-the-art performance in online tracking.
Institute of Cyber-Systems and Control, Zhejiang University（浙江大学 cyber-系统与控制研究所）；State Key Laboratory of Industrial Control Technology, Zhejiang University（浙江大学工业控制技术国家重点实验室）；Huawei Technologies Co. Ltd.（华为技术有限公司）
Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal hyperparameters and often fail in varying scenarios. To alleviate these drawbacks, we propose a LiDAR-based 3D MOT framework named FlowMOT, which integrates point-wise motion information with the traditional matching algorithm, enhancing the robustness of the motion prediction. We firstly utilize a scene flow estimation network to obtain implicit motion informati…
In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those relating to unregistered multi-agent image data. Solutions must effectively leverage multiple, non-static, and intermittently-overlapping RGB perspectives. To this end, we propose the Multi-Agent Infilling Network: an extensible neural architecture that can be deployed (in a distributed manner) to each agent in a robotic swarm. Specifically, each robot is in cha…
University of Koblenz-Landau（科布伦茨-兰道大学）；Queensland University of Technology（昆士兰科技大学）
Simple Online and Realtime Tracking (SORT) is a pragmatic approach to multiple object tracking with a focus on simple, effective algorithms. In this paper, we integrate appearance information to improve the performance of SORT. Due to this extension we are able to track objects through longer periods of occlusions, effectively reducing the number of identity switches. In spirit of the original framework we place much of the computational complexity into an offline pre-training stage where we learn a deep association metric on a large-scale person re-identification dataset. During online applic…
Enhancing point cloud analysis via neighbor aggregation correction based on cross-stage structure correlation
School of Automation Science and Electrical Engineering, Beihang University（自动化科学与电气工程学院，北航）；Chinese Aeronautical Radio Electronics Research Institute（中国航空无线电电子研究所）；School of Artificial Intelligence, Beihang University（人工智能学院，北航）
Australian National University（澳大利亚国立大学）；Tsinghua University（清华大学）
Data associations in multi-target multi-camera tracking (MTMCT) usually estimate affinity directly from re-identification (re-ID) feature distances. However, we argue that it might not be the best choice given the difference in matching scopes between re-ID and MTMCT problems. Re-ID systems focus on global matching, which retrieves targets from all cameras and all times. In contrast, data association in tracking is a local matching problem, since its candidates only come from neighboring locations and time frames. In this paper, we design experiments to verify such misfit between global re-ID …
Enhancing Table Recognition with Vision LLMs: A Benchmark and Neighbor-Guided Toolchain Reasoner
State Key Laboratory of Cognitive Intelligence, University of Science and Technology of China（认知智能国家重点实验室，中国科学技术大学）；Artificial Intelligence Research Institute, iFLYTEK Co., Ltd（iFLYTEK公司人工智能研究院）
JD Finance America Corporation（京东金融美国公司）；Tianjin University（天津大学）
To promote the developments of object detection, tracking and counting algorithms in drone-captured videos, we construct a benchmark with a new drone-captured largescale dataset, named as DroneCrowd, formed by 112 video clips with 33,600 HD frames in various scenarios. Notably, we annotate 20,800 people trajectories with 4.8 million heads and several video-level attributes. Meanwhile, we design the Space-Time Neighbor-Aware Network (STNNet) as a strong baseline to solve object detection, tracking and counting jointly in dense crowds. STNNet is formed by the feature extraction module, followed …
This paper presents a self-supervised method for learning reliable visual correspondence from unlabeled videos. We formulate the correspondence as finding paths in a joint space-time graph, where nodes are grid patches sampled from frames, and are linked by two types of edges: (i) neighbor relations that determine the aggregation strength from intra-frame neighbors in space, and (ii) similarity relations that indicate the transition probability of inter-frame paths across time. Leveraging the cycle-consistency in videos, our contrastive learning objective discriminates dynamic objects from bot…
GraphAlign: Enhancing Accurate Feature Alignment by Graph matching for Multi-Modal 3D Object Detection
School of Computer and Information Technology, Beijing Jiaotong University（北京交通大学计算机与信息技术学院）；School of Information Science and Engineering, Hebei University of Science and Technology（河北科技大学信息科学与工程学院）；State Key Laboratory of Automotive Safety and Energy, Tsinghua University（清华大学汽车安全与节能国家重点实验室）
Otto von Guericke University Magdeburg（马格德堡奥托·冯·格里克大学）
We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are further introduced as semantic constraints into a simultaneous localization and mapping (SLAM) system for pose correction purposes. This way, we are able generate additional meaningful information that allows to achieve higher-level tasks, while simultaneously leveraging the view-invariance of object detections to improve the accuracy and the robustness of the od…
University of Zagreb, Faculty of Electrical Engineering and Computing（萨格勒布大学电气工程与计算学院）
This paper studies the interplay between kinematics (position and velocity) and appearance cues for establishing correspondences in multi-target pedestrian tracking. We investigate tracking-by-detection approaches based on a deep learning detector, joint integrated probabilistic data association (JIPDA), and appearance-based tracking of deep correspondence embeddings. We first addressed the fixed-camera setup by fine-tuning a convolutional detector for accurate pedestrian detection and combining it with kinematic-only JIPDA. The resulting submission ranked first on the 3DMOT2015 benchmark. How…
