We present an interesting and challenging dataset that features a large number of scenes with messy tables captured from multiple camera views. Each scene in this dataset is highly complex, containing multiple object instances that could be identical, stacked and occluded by other instances. The key challenge is to associate all instances given the RGB image of all views. The seemingly simple task surprisingly fails many popular methods or heuristics that we assume good performance in object association. The dataset challenges existing methods in mining subtle appearance differences, reasoning based on contexts, and fusing appearance with geometric cues for establishing an association. We report interesting findings with some popular baselines, and discuss how this dataset could help inspire new problems and catalyse more robust formulations to tackle real-world instance association problems. Project page: $\href{https://caizhongang.github.io/projects/MessyTable/}{\text{MessyTable}}$
We present McAssoc, a deep learning approach to the as-sociation of detection bounding boxes in different views ofa multi-camera system. The vast majority of the academiahas been developing single-camera computer vision algo-rithms, however, little research attention has been directedto incorporating them into a multi-camera system. In thispaper, we designed a 3-branch architecture that leveragesdirect association and additional cross localization infor-mation. A new metric, image-pair association accuracy(IPAA) is designed specifically for performance evaluationof cross-camera detection assoc…
Beyond Appearance: A Multi-cue Framework and Large-scale Benchmark for Pedestrian Association and Tracking on Mobile Aerial-Ground Platforms
School of Computer Science, Northwestern Polytechnical University（西北工业大学计算机科学学院）；Ningbo Institute, Northwestern Polytechnical University（西北工业大学宁波研究院）；National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology（国家空天地海一体化大数据应用技术工程实验室）；Shenzhen University of Advanced Technology（深圳先进技术研究院）
GMT: Effective Global Framework for Multi-Camera Multi-Target Tracking
State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences（机器人与智能系统国家重点实验室，沈阳自动化研究所，中国科学院）；Key Laboratory of Manufacturing Industrial Integrated Automation, Shenyang University（制造工业集成自动化重点实验室，沈阳大学）；University of Chinese Academy of Sciences（中国科学院大学）；Nanjing University of Posts and Telecommunications（南京邮电大学）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）
Gwangju Institute of Science and Technology（光州科学技术院）
In this study, a multiple hypothesis tracking (MHT) algorithm for multi-target multi-camera tracking (MCT) with disjoint views is proposed. Our method forms track-hypothesis trees, and each branch of them represents a multi-camera track of a target that may move within a camera as well as move across cameras. Furthermore, multi-target tracking within a camera is performed simultaneously with the tree formation by manipulating a status of each track hypothesis. Each status represents three different stages of a multi-camera track: tracking, searching, and end-of-track. The tracking status means…
In this paper, we study the challenging problem of multi-object tracking in a complex scene captured by a single camera. Different from the existing tracklet association-based tracking methods, we propose a novel and efficient way to obtain discriminative appearance-based tracklet affinity models. Our proposed method jointly learns the convolutional neural networks (CNNs) and temporally constrained metrics. In our method, a Siamese convolutional neural network (CNN) is first pre-trained on the auxiliary data. Then the Siamese CNN and temporally constrained metrics are jointly learned online to…
Systems for person re-identification (ReID) can achieve a high accuracy when trained on large fully-labeled image datasets. However, the domain shift typically associated with diverse operational capture conditions (e.g., camera viewpoints and lighting) may translate to a significant decline in performance. This paper focuses on unsupervised domain adaptation (UDA) for video-based ReID - a relevant scenario that is less explored in the literature. In this scenario, the ReID model must adapt to a complex target domain defined by a network of diverse video cameras based on tracklet information. …
In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge mapping. In the front-end, an ICP-based edge registration can provide robust motion estimation and coarse data association under lighting changes. In the back-end, a novel edge-guided data association pipeline searches for the best photometrically matched points along geometrically possible edges through template matching, so that the matches can be further ref…
Towards Effective Multi-Moving-Camera Tracking: A New Dataset and Lightweight Link Model
School of Computer Science and Technology, Donghua University（东华大学计算机科学与技术学院）；Institute of Integrated Science and Technology, Hosei University（法政大学综合科学技术研究所）；Frontiers Science Center for Intelligent Autonomous Systems, Tongji University（同济大学智能自主系统前沿科学中心）
Estimating 3D poses of multiple humans in real-time is a classic but still challenging task in computer vision. Its major difficulty lies in the ambiguity in cross-view association of 2D poses and the huge state space when there are multiple people in multiple views. In this paper, we present a novel solution for multi-human 3D pose estimation from multiple calibrated camera views. It takes 2D poses in different camera coordinates as inputs and aims for the accurate 3D poses in the global coordinate. Unlike previous methods that associate 2D poses among all pairs of views from scratch at every…
PAS-SLAM: A Visual SLAM System for Planar Ambiguous Scenes
School of Electronic Information and Electrical Engineering, Dalian University of Technology（大连理工大学电子信息与电气工程学部）；Department of Automation, Tsinghua University（清华大学自动化系）；School of Electronic and Computer Engineering, Peking University（北京大学电子与计算机工程学院）；College of Information Science and Engineering, Northeastern University（东北大学信息科学与工程学院）
Cross-camera image data association is essential for many multi-camera computer vision tasks, such as multi-camera pedestrian detection, multi-camera multi-target tracking, 3D pose estimation, etc. This association task is typically stated as a bipartite graph matching problem and often solved by applying minimum-cost flow techniques, which may be computationally inefficient with large data. Furthermore, cameras are usually treated by pairs, obtaining local solutions, rather than finding a global solution at once. Other key issue is that of the affinity measurement: the widespread usage of non…
Beijing University of Aeronautics and Astronautics（北京航空航天大学）
One of the fundamental requirements for visual surveillance using smart camera networks is the correct association of each persons observations generated on different cameras. Recently, distributed data association that involves only local information processing on each camera node and mutual information exchanging between neighboring cameras has attracted many research interests due to its superiority in large scale applications. In this paper, we formulate the problem of data association in smart camera networks as an Integer Programming problem by introducing a set of linking variables, and…
University of Arkansas（阿肯色大学）；Concordia University（康考迪亚大学）；University of Wollongong（伍伦贡大学）
The development of autonomous vehicles generates a tremendous demand for a low-cost solution with a complete set of camera sensors capturing the environment around the car. It is essential for object detection and tracking to address these new challenges in multi-camera settings. In order to address these challenges, this work introduces novel Single-Stage Global Association Tracking approaches to associate one or more detection from multi-cameras with tracked objects. These approaches aim to solve fragment-tracking issues caused by inconsistent 3D object detection. Moreover, our models also i…
Unveiling the Power of Self-supervision for Multi-view Multi-human Association and Tracking
Tianjin University（天津大学）；Key Research Center for Surface Inspection and Analysis of Cultural Relics, SACH（国家文物局文物表面检测与分析重点科研基地）；University of South Carolina（南卡罗来纳大学）
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 …
Nanjing University of Science and Technology（南京理工大学）；Queen Mary University of London（伦敦玛丽女王大学）；Vision Semantics Limited（视觉语义有限公司）
Mostexistingpersonre-identification(re-id)methods relyon supervised model learning on per-camera-pair manually labelled pairwise training data. This leads to poor scalability in practical re-id deployment due to the lack of exhaustive identity labelling of image positive and negative pairs for every camera pair. In this work, we address this problem by proposing an unsupervised re-id deep learning approach capable of incrementally discovering and exploiting the underlying re-id discriminative information from automatically generated person tracklet data from videos in an end-to-end model optim…
Michigan State University（密歇根州立大学）；Ford Motor Company（福特汽车公司）
While radar and video data can be readily fused at the detection level, fusing them at the pixel level is potentially more beneficial. This is also more challenging in part due to the sparsity of radar, but also because automotive radar beams are much wider than a typical pixel combined with a large baseline between camera and radar, which results in poor association between radar pixels and color pixel. A consequence is that depth completion methods designed for LiDAR and video fare poorly for radar and video. Here we propose a radar-to-pixel association stage which learns a mapping from rada…
University of Science and Technology of China（中国科学技术大学）；Huawei Cloud EI Product Department（华为云EI产品部）；Huawei Noah’s Ark Laboratory（华为诺亚方舟实验室）
Existing methods for person re-identification (Re-ID) are mostly based on supervised learning which requires numerous manually labeled samples across all camera views for training. Such a paradigm suffers the scalability issue since in real-world Re-ID application, it is difficult to exhaustively label abundant identities over multiple disjoint camera views. To this end, we propose a progressive deep learning method for unsupervised person Re-ID in the wild by Tracklet Association with Spatio-Temporal Regularization (TASTR). In our approach, we first collect tracklet data within each camera by…
In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other hand, some methods have focused too much on computation speed at the expense of tracking accuracy. In view of these issues, this paper proposes a robust and fast camera-LiDAR fusion-based MOT method that achieves a good trade-off between accuracy and speed. Relying on the characteristics of camera and LiDAR sensors, an effective deep association mechanism i…
Institute for Brain and Cognitive Sciences, Tsinghua University（清华大学脑与认知科学研究院）；Tianjin University（天津大学）
This paper contributes a novel realtime multi-person motion capture algorithm using multiview video inputs. Due to the heavy occlusions in each view, joint optimization on the multiview images and multiple temporal frames is indispensable, which brings up the essential challenge of realtime efficiency. To this end, for the first time, we unify per-view parsing, cross-view matching, and temporal tracking into a single optimization framework, i.e., a 4D association graph that each dimension (image space, viewpoint and time) can be treated equally and simultaneously. To solve the 4D association g…
Reliable markerless motion tracking of people participating in a complex group activity from multiple moving cameras is challenging due to frequent occlusions, strong viewpoint and appearance variations, and asynchronous video streams. To solve this problem, reliable association of the same person across distant viewpoints and temporal instances is essential. We present a self-supervised framework to adapt a generic person appearance descriptor to the unlabeled videos by exploiting motion tracking, mutual exclusion constraints, and multi-view geometry. The adapted discriminative descriptor is …
Australian National University（澳大利亚国立大学）；Tsinghua University（清华大学）
Association, aiming to link bounding boxes of the same identity in a video sequence, is a central component in multi-object tracking (MOT). To train association modules, e.g., parametric networks, real video data are usually used. However, annotating person tracks in consecutive video frames is expensive, and such real data, due to its inflexibility, offer us limited opportunities to evaluate the system performance w.r.t changing tracking scenarios. In this paper, we study whether 3D synthetic data can replace real-world videos for association training. Specifically, we introduce a large-scale…
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…
The research on multi-object tracking (MOT) is essentially to solve for the data association assignment, the core of which is to design the association cost as discriminative as possible. Generally speaking, the match ambiguities caused by similar appearances of objects and the moving cameras make the data association perplexing and challenging. In this paper, we propose a new heuristic method to search for structural constraints (HSSC) of multiple targets when solving the problem of online multi-object tracking. We believe that the internal structure among multiple targets in the adjacent fra…
ReWorld-Track: A Recursive Event World Model for Language-Guided Multi-Camera Tracking
Huazhong University of Science and Technology（华中科技大学）；Jiangxi University of Water Resources and Electric Power（江西水利电力大学）；Zhongnan University of Economics and Law（中南财经政法大学）
Intra-camera supervision (ICS) for person re-identification (Re-ID) assumes that identity labels are independently annotated within each camera view and no inter-camera identity association is labeled. It is a new setting proposed recently to reduce the burden of annotation while expect to maintain desirable Re-ID performance. However, the lack of inter-camera labels makes the ICS Re-ID problem much more challenging than the fully supervised counterpart. By investigating the characteristics of ICS, this paper proposes camera-specific non-parametric classifiers, together with a hybrid mining qu…
In this paper, we propose a pipeline for multi-target visual tracking under multi-camera system. For multi-camera system tracking problem, efficient data association across cameras, and at the same time, across frames becomes more important than single-camera system tracking. However, most of the multi-camera tracking algorithms emphasis on single camera across frame data association. Thus in our work, we model our tracking problem as a global graph, and adopt Generalized Maximum Multi Clique optimization problem as our core algorithm to take both across frame and across camera data correlatio…
ETH Zürich（苏黎世联邦理工学院）；National Tsing Hua University（台湾清华大学）
To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking methods prioritize optimizing the single-camera setup and resort to post-hoc fusion in a multi-camera setup. In this paper, we propose a method for panoramic 3D object tracking, called CC-3DT, that associates and models object trajectories both temporally and across views, and improves the overall tracking consistency. In particular, our method fuses 3D detec…
Concordia University（康考迪亚大学）；VinAI Research（VinAI研究院）；Chalmers University of Technology（查尔姆斯理工大学）；University of Arkansas（阿肯色大学）；University of Science VNU-HCM（越南国立大学胡志明市科学大学）
Multi-Camera Multiple Object Tracking (MC-MOT) is a significant computer vision problem due to its emerging applicability in several real-world applications. Despite a large number of existing works, solving the data association problem in any MC-MOT pipeline is arguably one of the most challenging tasks. Developing a robust MC-MOT system, however, is still highly challenging due to many practical issues such as inconsistent lighting conditions, varying object movement patterns, or the trajectory occlusions of the objects between the cameras. To address these problems, this work, therefore, pr…
Radars and cameras are mature, cost-effective, and robust sensors and have been widely used in the perception stack of mass-produced autonomous driving systems. Due to their complementary properties, outputs from radar detection (radar pins) and camera perception (2D bounding boxes) are usually fused to generate the best perception results. The key to successful radar-camera fusion is the accurate data association. The challenges in the radar-camera association can be attributed to the complexity of driving scenes, the noisy and sparse nature of radar measurements, and the depth ambiguity from…
Queen Mary University of London（伦敦玛丽女王大学）；Vision Semantics Limited（视觉语义有限公司）
Most existing person re-identification (re-id) methods rely on supervised model learning on per-camera-pair manually labelled pairwise training data. This leads to poor scalability in a practical re-id deployment, due to the lack of exhaustive identity labelling of positive and negative image pairs for every camera-pair. In this work, we present an unsupervised re-id deep learning approach. It is capable of incrementally discovering and exploiting the underlying re-id discriminative information from automatically generated person tracklet data end-to-end. We formulate an Unsupervised Tracklet …
Multi-person total motion capture is extremely challenging when it comes to handle severe occlusions, different reconstruction granularities from body to face and hands, drastically changing observation scales and fast body movements. To overcome these challenges above, we contribute a lightweight total motion capture system for multi-person interactive scenarios using only sparse multi-view cameras. By contributing a novel hand and face bootstrapping algorithm, our method is capable of efficient localization and accurate association of the hands and faces even on severe occluded occasions. We…
The City College of New York, City University（纽约市立大学纽约城市学院）；Microsoft（微软）；University of Pittsburgh（匹兹堡大学）
Using an ego-centric camera to do localization and tracking is highly needed for urban navigation and indoor assistive system when GPS is not available or not accurate enough. The traditional hand-designed feature tracking and estimation approach would fail without visible features. Recently, there are several works exploring to use context features to do localization. However, all of these suffer severe accuracy loss if given no visual context information. To provide a possible solution to this problem, this paper proposes a camera system with both ego-downward and third-static view to perfor…
Tata Consultancy Services（塔塔咨询服务公司）；Indian Institute of Technology Guwahati（古瓦哈提印度理工学院）
This paper looks into the problem of pedestrian tracking using a monocular, potentially moving, uncalibrated camera. The pedestrians are located in each frame using a standard human detector, which are then tracked in subsequent frames. This is a challenging problem as one has to deal with complex situations like changing background, partial or full occlusion and camera motion. In order to carry out successful tracking, it is necessary to resolve associations between the detected windows in the current frame with those obtained from the previous frame. Compared to methods that use temporal win…
The plenoptic camera can capture both angular and spatial information of the rays, enabling 3D reconstruction by single exposure. The geometry of the recovered scene structure is affected by the calibration of the plenoptic camera significantly. In this paper, we propose a novel unconstrained two-parallel-plane (TPP) model with 7 parameters to describe a 4D light field. By reconstructing scene points from ray-ray association, a 3D projective transformation is deduced to establish the relationship between the scene structure and the TPP parameters. Based on the transformation, we simplify the f…
The rapid development of embedded hardware in autonomous vehicles broadens their computational capabilities, thus bringing the possibility to mount more complete sensor setups able to handle driving scenarios of higher complexity. As a result, new challenges such as multiple detections of the same object have to be addressed. In this work, a siamese network is integrated into the pipeline of a well-known 3D object detector approach to suppress duplicate proposals coming from different cameras via re-identification. Additionally, associations are exploited to enhance the 3D box regression of th…
Video surveillance can be significantly enhanced by using both top-view data, e.g., those from drone-mounted cameras in the air, and horizontal-view data, e.g., those from wearable cameras on the ground. Collaborative analysis of different-view data can facilitate various kinds of applications, such as human tracking, person identification, and human activity recognition. However, for such collaborative analysis, the first step is to associate people, referred to as subjects in this paper, across these two views. This is a very challenging problem due to large human-appearance difference betwe…
The goal of multi-object tracking (MOT) is detecting and tracking all the objects in a scene, while keeping a unique identifier for each object. In this paper, we present a new robust state-of-the-art tracker, which can combine the advantages of motion and appearance information, along with camera-motion compensation, and a more accurate Kalman filter state vector. Our new trackers BoT-SORT, and BoT-SORT-ReID rank first in the datasets of MOTChallenge [29, 11] on both MOT17 and MOT20 test sets, in terms of all the main MOT metrics: MOTA, IDF1, and HOTA. For MOT17: 80.5 MOTA, 80.2 IDF1, and 65.…
NullMax（NullMax公司）；School of Information Engineering, Zhengzhou University（郑州大学信息工程学院）
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods suffer from pose estimation failure due to error prone data association or initialization with accurate initial pose requirement. In this paper, we propose a cost-effective vehicle localization system with HD map for autonomous driving that uses cameras as primary sensors. To this end, we formulate vision-based localization as a data association problem tha…
The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation problem rather than explicit semantic object detections. We propose Pose Refiner Network (PoserNet) a light-weight Graph Neural Network to refine the approximate pair-wise relative camera poses. PoserNet exploits associations between the objectness regions - concisely expressed as bounding boxes - across multiple views to globally refine sparsely connected view g…
University of Arkansas（阿肯色大学）；Concordia University（康考迪亚大学）
The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as achieving consistent results across views of cameras. To address these challenges, this work presents a new Global Association Graph Model with Link Prediction approach to predict existing tracklets location and link detections with tracklets via cross-attention motion modeling and appearance re-identification. This approach aims at solving issues caused by inc…
