Accurate and consistent 3D tracking from multiple cameras is a key component in a vision-based autonomous driving system. It involves modeling 3D dynamic objects in complex scenes across multiple cameras. This problem is inherently challenging due to depth estimation, visual occlusions, appearance ambiguity, etc. Moreover, objects are not consistently associated across time and cameras. To address that, we propose an end-to-end \textbf{MU}lti-camera \textbf{TR}acking framework called MUTR3D. In contrast to prior works, MUTR3D does not explicitly rely on the spatial and appearance similarity of objects. Instead, our method introduces \textit{3D track query} to model spatial and appearance coherent track for each object that appears in multiple cameras and multiple frames. We use camera transformations to link 3D trackers with their observations in 2D images. Each tracker is further refined according to the features that are obtained from camera images. MUTR3D uses a set-to-set loss to measure the difference between the predicted tracking results and the ground truths. Therefore, it does not require any post-processing such as non-maximum suppression and/or bounding box association. MUTR3D outperforms state-of-the-art methods by 5.3 AMOTA on the nuScenes dataset. Code is available at: \url{https://github.com/a1600012888/MUTR3D}.
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…
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…
USVTrack: USV-Based 4D Radar-Camera Tracking Dataset for Autonomous Driving in Inland Waterways
School of Information Engineering, Yancheng Institute Technology（盐城理工学院信息工程学院）；Thrust of Artificial Intelligence and Thrust of Intelligent Transportation, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）人工智能与智能交通研究部）；School of Advanced Technology, Xi’an Jiaotong-Liverpool University（西安交通大学利物浦大学先进科技学院）；School of Navigation, Wuhan University of Technology（武汉理工大学航海学院）
University of Maryland（马里兰大学）；Johns Hopkins University（约翰斯·霍普金斯大学）
Multi-camera vehicle tracking is one of the most complicated tasks in Computer Vision as it involves distinct tasks including Vehicle Detection, Tracking, and Re-identification. Despite the challenges, multi-camera vehicle tracking has immense potential in transportation applications including speed, volume, origin-destination (O-D), and routing data generation. Several recent works have addressed the multi-camera tracking problem. However, most of the effort has gone towards improving accuracy on high-quality benchmark datasets while disregarding lower camera resolutions, compression artifact…
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；National Laboratory of Pattern Recognition（模式识别国家重点实验室）
Non-overlapping multi-camera visual object tracking typically consists of two steps: single camera object tracking and inter-camera object tracking. Most of tracking methods focus on single camera object tracking, which happens in the same scene, while for real surveillance scenes, inter-camera object tracking is needed and single camera tracking methods can not work effectively. In this paper, we try to improve the overall multi-camera object tracking performance by a global graph model with an improved similarity metric. Our method treats the similarities of single camera tracking and inter-…
University of Chinese Academy of Sciences（中国科学院大学）
Multi-camera tracking is quite different from single camera tracking, and it faces new technology and system architecture challenges. By analyzing the corresponding characteristics and disadvantages of the existing algorithms, problems in multi-camera tracking are summarized and some new directions for future work are also generalized.
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…
Although many methods perform well in single camera tracking, multi-camera tracking remains a challenging problem with less attention. DukeMTMC is a large-scale, well-annotated multi-camera tracking benchmark which makes great progress in this field. This report is dedicated to briefly introduce our method on DukeMTMC and show that simple hierarchical clustering with well-trained person re-identification features can get good results on this dataset.
Multi-camera tracking systems are gaining popularity in applications that demand high-quality tracking results, such as frictionless checkout because monocular multi-object tracking (MOT) systems often fail in cluttered and crowded environments due to occlusion. Multiple highly overlapped cameras can significantly alleviate the problem by recovering partial 3D information. However, the cost of creating a high-quality multi-camera tracking dataset with diverse camera settings and backgrounds has limited the dataset scale in this domain. In this paper, we provide a large-scale densely-labeled mu…
Smart City applications such as intelligent traffic routing or accident prevention rely on computer vision methods for exact vehicle localization and tracking. Due to the scarcity of accurately labeled data, detecting and tracking vehicles in 3D from multiple cameras proves challenging to explore. We present a massive synthetic dataset for multiple vehicle tracking and segmentation in multiple overlapping and non-overlapping camera views. Unlike existing datasets, which only provide tracking ground truth for 2D bounding boxes, our dataset additionally contains perfect labels for 3D bounding bo…
Australian National University（澳大利亚国立大学）；Tsinghua University（清华大学）
Multi-target multi-camera tracking (MTMCT) systems track targets across cameras. Due to the continuity of target trajectories, tracking systems usually restrict their data association within a local neighborhood. In single camera tracking, local neighborhood refers to consecutive frames; in multi-camera tracking, it refers to neighboring cameras that the target may appear successively. For similarity estimation, tracking systems often adopt appearance features learned from the re-identification (re-ID) perspective. Different from tracking, re-ID usually does not have access to the trajectory c…
Event cameras are a paradigm shift in camera technology. Instead of full frames, the sensor captures a sparse set of events caused by intensity changes. Since only the changes are transferred, those cameras are able to capture quick movements of objects in the scene or of the camera itself. In this work we propose a novel method to perform camera tracking of event cameras in a panoramic setting with three degrees of freedom. We propose a direct camera tracking formulation, similar to state-of-the-art in visual odometry. We show that the minimal information needed for simultaneous tracking and …
University IUAV of Venice（威尼斯IUAV大学）；Ca’ Foscari University of Venice（威尼斯大学）；University of Parma（帕尔马大学）；University of Central Florida（中佛罗里达大学）
In this paper, a unified three-layer hierarchical approach for solving tracking problems in multiple non-overlapping cameras is proposed. Given a video and a set of detections (obtained by any person detector), we first solve within-camera tracking employing the first two layers of our framework and, then, in the third layer, we solve across-camera tracking by merging tracks of the same person in all cameras in a simultaneous fashion. To best serve our purpose, a constrained dominant sets clustering (CDSC) technique, a parametrized version of standard quadratic optimization, is employed to sol…
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…
This letter focuses on the task of Multi-Target Multi-Camera vehicle tracking. We propose to associate single-camera trajectories into multi-camera global trajectories by training a Graph Convolutional Network. Our approach simultaneously processes all cameras providing a global solution, and it is also robust to large cameras unsynchronizations. Furthermore, we design a new loss function to deal with class imbalance. Our proposal outperforms the related work showing better generalization and without requiring ad-hoc manual annotations or thresholds, unlike compared approaches.
Multi-target multi-camera tracking (MTMCT), i.e., tracking multiple targets across multiple cameras, is a crucial technique for smart city applications. In this paper, we propose an effective and reliable MTMCT framework for vehicles, which consists of a traffic-aware single camera tracking (TSCT) algorithm, a trajectory-based camera link model (CLM) for vehicle re-identification (ReID), and a hierarchical clustering algorithm to obtain the cross camera vehicle trajectories. First, the TSCT, which jointly considers vehicle appearance, geometric features, and some common traffic scenarios, is p…
Indraprastha Institute of Information Technology (IIIT-Delhi)（英德拉普拉萨信息技术学院（IIIT-德里））
Surveillance camera networks are a useful infrastructure for various visual analytics applications, where high-level inferences and predictions could be made based on target tracking across the network. Most multi-camera tracking works focus on target re-identification and trajectory association problems to track the target. However, since camera networks can generate enormous amount of video data, inefficient schemes for making re-identification or trajectory association queries can incur prohibitively large computational requirements. In this paper, we address the problem of intelligent sche…
Technische Universität Berlin（柏林工业大学）；Einstein Center Digital Future（爱因斯坦数字未来中心）；SCIoI Excellence Cluster（SCIoI卓越集群）
This work introduces a co-capture system for multi-animal visual data acquisition using conventional cameras and event cameras. Event cameras offer multiple advantages over frame-based cameras, such as a high temporal resolution and temporal redundancy suppression, which enable us to efficiently capture the fast and erratic movements of fish. We furthermore present an event-based multi-animal tracking algorithm, which proves the feasibility of the approach and sets the baseline for further exploration of combining the advantages of event cameras and conventional cameras for multi-animal tracki…
Tracking a crowd in 3D using multiple RGB cameras is a challenging task. Most previous multi-camera tracking algorithms are designed for offline setting and have high computational complexity. Robust real-time multi-camera 3D tracking is still an unsolved problem. In this work, we propose a novel end-to-end tracking pipeline, Deep Multi-Camera Tracking (DMCT), which achieves reliable real-time multi-camera people tracking. Our DMCT consists of 1) a fast and novel perspective-aware Deep GroudPoint Network, 2) a fusion procedure for ground-plane occupancy heatmap estimation, 3) a novel Deep Glim…
University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Increasing demand for meat products combined with farm labor shortages has resulted in a need to develop new real-time solutions to monitor animals effectively. Significant progress has been made in continuously locating individual pigs using tracking-by-detection methods. However, these methods fail for oblong pens because a single fixed camera does not cover the entire floor at adequate resolution. We address this problem by using multiple cameras, placed such that the visual fields of adjacent cameras overlap, and together they span the entire floor. Avoiding breaks in tracking requires int…
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…
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）
Recent progresses in visual tracking have greatly improved the tracking performance. However, challenges such as occlusion and view change remain obstacles in real world deployment. A natural solution to these challenges is to use multiple cameras with multiview inputs, though existing systems are mostly limited to specific targets (e.g. human), static cameras, and/or camera calibration. To break through these limitations, we propose a generic multiview tracking (GMT) framework that allows camera movement, while requiring neither specific object model nor camera calibration. A key innovation i…
We present TrackNet, a method for Multi-Target Multi-Camera (MTMC) vehicle tracking from traffic video sequences. Cross-camera vehicle tracking has proved to be a challenging task due to perspective, scale and speed variance, as well occlusions and noise conditions. Our method is based on a modular approach that first detects vehicles frame-by-frame using Faster R-CNN, then tracks detections through single camera using Kalman filter, and finally matches tracks by a triplet metric learning strategy. We conduct experiments on TrackNet within the AI City Challenge framework, and present competiti…
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information. OpenPose is used for human detection. In the case of a general processing a stereo camera, a range image of the entire scene is acquired as precisely as possible, and then the range image is processed. However, there are problems such as incorrect matching and computational cost for the calibration process. A new stereo vision framework is proposed to cope wit…
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…
Object tracking and localization is a complex task that typically requires processing power beyond the capabilities of low-power embedded cameras. This paper presents a new approach to real-time object tracking and localization using multi-view binary keypoints descriptor. The proposed approach offers a compromise between processing power, accuracy and networking bandwidth and has been tested using multiple distributed low-power smart cameras. Additionally, multiple optimization techniques are presented to improve the performance of the keypoints descriptor for low-power embedded systems.
University of Washington（华盛顿大学）；Electronics and Telecommunications Research Institute（电子通信研究院）
In this paper, we propose a novel framework for multi-target multi-camera tracking (MTMCT) of vehicles based on metadata-aided re-identification (MA-ReID) and the trajectory-based camera link model (TCLM). Given a video sequence and the corresponding frame-by-frame vehicle detections, we first address the isolated tracklets issue from single camera tracking (SCT) by the proposed traffic-aware single-camera tracking (TSCT). Then, after automatically constructing the TCLM, we solve MTMCT by the MA-ReID. The TCLM is generated from camera topological configuration to obtain the spatial and tempora…
Tracking multiple people across multiple cameras is an open problem. It is typically divided into two tasks: (i) single-camera tracking (SCT) - identify trajectories in the same scene, and (ii) inter-camera tracking (ICT) - identify trajectories across cameras for real surveillance scenes. Many methods cater to SCT, while ICT still remains a challenge. In this paper, we propose a tracking method which uses motion cues and a feature aggregation network for template-based person re-identification by incorporating metadata such as person bounding box and camera information. We present a feature a…
The University of Adelaide（阿德莱德大学）；University of Queensland（昆士兰大学）；Western Sydney University（西悉尼大学）
Star trackers are primarily optical devices that are used to estimate the attitude of a spacecraft by recognising and tracking star patterns. Currently, most star trackers use conventional optical sensors. In this application paper, we propose the usage of event sensors for star tracking. There are potentially two benefits of using event sensors for star tracking: lower power consumption and higher operating speeds. Our main contribution is to formulate an algorithmic pipeline for star tracking from event data that includes novel formulations of rotation averaging and bundle adjustment. In add…
State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences（中国科学院软件研究所计算机科学国家重点实验室）；University of Chinese Academy of Sciences（中国科学院大学）；Machine Intelligence Technology Lab Alibaba Group（阿里巴巴集团机器智能技术实验室）
Multi-Target Multi-Camera Tracking has a wide range of applications and is the basis for many advanced inferences and predictions. This paper describes our solution to the Track 3 multi-camera vehicle tracking task in 2021 AI City Challenge (AICITY21). This paper proposes a multi-target multi-camera vehicle tracking framework guided by the crossroad zones. The framework includes: (1) Use mature detection and vehicle re-identification models to extract targets and appearance features. (2) Use modified JDETracker (without detection module) to track single-camera vehicles and generate single-came…
KTH Royal Institute of Technology（瑞典皇家理工学院）；Univrses AB（Univrses AB公司）
We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate the suitability of them for the task of camera tracking. In particular, we propose to track an RGB-D camera using a signed distance field-based representation and show that compared to density-based representations, tracking can be sped up, which enables more robust and accurate pose estimates when computation time is limited.
Instituto Maimónides de Investigación Biomédica de Córdoba (IMIBIC)（科尔多瓦迈蒙尼德生物医学研究所）；Universidad de Córdoba（科尔多瓦大学）
Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated from their four corners. While using a single marker and a single camera limits the working area considerably, using multiple markers attached to an object requires estimating their relative position, which is not trivial, for high accuracy tracking. Likewise, using multiple cameras requires estimating their extrinsic parameters, also a tedious process that mu…
Target tracking in a camera network is an important task for surveillance and scene understanding. The task is challenging due to disjoint views and illumination variation in different cameras. In this direction, many graph-based methods were proposed using appearance-based features. However, the appearance information fades with high illumination variation in the different camera FOVs. We, in this paper, use spatial and temporal information as the state of the target to learn a policy that predicts the next camera given the current state. The policy is trained using Q-learning and it does not…
Huazhong University of Science & Technology（华中科技大学）；Applied Research Center (ARC), Tencent PCG（腾讯平台与内容事业群应用研究中心）
Recently, query based deep networks catch lots of attention owing to their end-to-end pipeline and competitive results on several fundamental computer vision tasks, such as object detection, semantic segmentation, and instance segmentation. However, how to establish a query based video instance segmentation (VIS) framework with elegant architecture and strong performance remains to be settled. In this paper, we present \textbf{QueryTrack} (i.e., tracking instances as queries), a unified query based VIS framework fully leveraging the intrinsic one-to-one correspondence between instances and que…
Pan-tilt-zoom (PTZ) cameras are powerful to support object identification and recognition in far-field scenes. However, the effective use of PTZ cameras in real contexts is complicated by the fact that a continuous on-line camera calibration is needed and the absolute pan, tilt and zoom positional values provided by the camera actuators cannot be used because are not synchronized with the video stream. So, accurate calibration must be directly extracted from the visual content of the frames. Moreover, the large and abrupt scale changes, the scene background changes due to the camera operation …
Horizon Robotics（地平线机器人）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Beijing University of Posts and Telecommunications（北京邮电大学）
Multi-target Multi-camera Tracking (MTMCT) aims to extract the trajectories from videos captured by a set of cameras. Recently, the tracking performance of MTMCT is significantly enhanced with the employment of re-identification (Re-ID) model. However, the appearance feature usually becomes unreliable due to the occlusion and orientation variance of the targets. Directly applying Re-ID model in MTMCT will encounter the problem of identity switches (IDS) and tracklet fragment caused by occlusion. To solve these problems, we propose a novel tracking framework in this paper. In this framework, th…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；German Research Center for Artificial Intelligence（德国人工智能研究中心）；Leibniz University Hannover（汉诺威莱布尼茨大学）；Oldenburg University（奥尔登堡大学）
Multi-Camera Multi-Object Tracking is currently drawing attention in the computer vision field due to its superior performance in real-world applications such as video surveillance in crowded scenes or in wide spaces. In this work, we propose a mathematically elegant multi-camera multiple object tracking approach based on a spatial-temporal lifted multicut formulation. Our model utilizes state-of-the-art tracklets produced by single-camera trackers as proposals. As these tracklets may contain ID-Switch errors, we refine them through a novel pre-clustering obtained from 3D geometry projections.…
Multi-Target Multi-Camera Tracking (MTMCT) tracks many people through video taken from several cameras. Person Re-Identification (Re-ID) retrieves from a gallery images of people similar to a person query image. We learn good features for both MTMCT and Re-ID with a convolutional neural network. Our contributions include an adaptive weighted triplet loss for training and a new technique for hard-identity mining. Our method outperforms the state of the art both on the DukeMTMC benchmarks for tracking, and on the Market-1501 and DukeMTMC-ReID benchmarks for Re-ID. We examine the correlation betw…
This paper presents a real-time method to detect and track multiple mobile ground robots using event cameras. The method uses density-based spatial clustering of applications with noise (DBSCAN) to detect the robots and a single k-dimensional ($k - d$) tree to accurately keep track of them as they move in an indoor arena. Robust detections and tracks are maintained in the face of event camera noise and lack of events (due to robots moving slowly or stopping). An off-the-shelf RGB camera-based tracking system was used to provide ground truth. Experiments including up to 4 robots are performed t…
