Current approaches in Multiple Object Tracking (MOT) rely on the spatio-temporal coherence between detections combined with object appearance to match objects from consecutive frames. In this work, we explore MOT using object appearances as the main source of association between objects in a video, using spatial and temporal priors as weighting factors. We form initial tracklets by leveraging on the idea that instances of an object that are close in time should be similar in appearance, and build the final object tracks by fusing the tracklets in a hierarchical fashion. We conduct extensive experiments that show the effectiveness of our method over three different MOT benchmarks, MOT17, MOT20, and DanceTrack, being competitive in MOT17 and MOT20 and establishing state-of-the-art results in DanceTrack.
Multi-object tracking (MOT) is an important and practical task related to both surveillance systems and moving camera applications, such as autonomous driving and robotic vision. However, due to unreliable detection, occlusion and fast camera motion, tracked targets can be easily lost, which makes MOT very challenging. Most recent works treat tracking as a re-identification (Re-ID) task, but how to combine appearance and temporal features is still not well addressed. In this paper, we propose an innovative and effective tracking method called TrackletNet Tracker (TNT) that combines temporal an…
Zhejiang University（浙江大学）；Hangzhou Dianzi University（杭州电子科技大学）；Guangdong University of Petrochemical Technology（广东石油化工学院）；University of Washington（华盛顿大学）
Vehicle tracking is an essential task in the multi-object tracking (MOT) field. A distinct characteristic in vehicle tracking is that the trajectories of vehicles are fairly smooth in both the world coordinate and the image coordinate. Hence, models that capture motion consistencies are of high necessity. However, tracking with the standalone motion-based trackers is quite challenging because targets could get lost easily due to limited information, detection error and occlusion. Leveraging appearance information to assist object re-identification could resolve this challenge to some extent. H…
Most of the existing tracking methods link the detected boxes to the tracklets using a linear combination of feature cosine distances and box overlap. But the problem of inconsistent features of an object in two different frames still exists. In addition, when extracting features, only appearance information is utilized, neither the location relationship nor the information of the tracklets is considered. We present an accurate and end-to-end learning framework for multi-object tracking, namely \textbf{TPAGT}. It re-extracts the features of the tracklets in the current frame based on motion pr…
Nara Institute of Science and Technology（奈良先端科学技术大学院大学）；RIKEN（理化学研究所）；UISEE Technology (Beijing) Co. Ltd.（北京驭势科技有限公司）；Kyoto University（京都大学）
We aim to improve the performance of Multiple Object Tracking and Segmentation (MOTS) by refinement. However, it remains challenging for refining MOTS results, which could be attributed to that appearance features are not adapted to target videos and it is also difficult to find proper thresholds to discriminate them. To tackle this issue, we propose a self-supervised refining MOTS (i.e., ReMOTS) framework. ReMOTS mainly takes four steps to refine MOTS results from the data association perspective. (1) Training the appearance encoder using predicted masks. (2) Associating observations across a…
Recent works in multiple object tracking use sequence model to calculate the similarity score between the detections and the previous tracklets. However, the forced exposure to ground-truth in the training stage leads to the training-inference discrepancy problem, i.e., exposure bias, where association error could accumulate in the inference and make the trajectories drift. In this paper, we propose a novel method for optimizing tracklet consistency, which directly takes the prediction errors into account by introducing an online, end-to-end tracklet search training process. Notably, our metho…
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 …
Multiple Object Tracking (MOT) is an important task in computer vision. MOT is still challenging due to the occlusion problem, especially in dense scenes. Following the tracking-by-detection framework, we propose the Box-Plane Matching (BPM) method to improve the MOT performacne in dense scenes. First, we design the Layer-wise Aggregation Discriminative Model (LADM) to filter the noisy detections. Then, to associate remaining detections correctly, we introduce the Global Attention Feature Model (GAFM) to extract appearance feature and use it to calculate the appearance similarity between histo…
NeighborTrack: Improving Single Object Tracking by Bipartite Matching with Neighbor Tracklets
Institute of Information Science, Academia Sinica（中央研究院信息科学研究所）；Purdue University（普渡大学）；National Tsing Hua University（国立清华大学）；National Taiwan University（国立台湾大学）
本文提出无需重训的 SOT 后处理器 NeighborTrack，通过相邻轨迹段二分匹配利用高置信邻居校正遮挡与外观变化导致的误跟踪，并在多个基准上显著提升 Ocean、TransT 和 OSTrack。
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…
University of Electronic Science and Technology of China（电子科技大学）；The Chinese University of Hong Kong（香港中文大学）；University of Sydney（悉尼大学）
Online Multi-Object Tracking (MOT) is a challenging problem and has many important applications including intelligence surveillance, robot navigation and autonomous driving. In existing MOT methods, individual object's movements and inter-object relations are mostly modeled separately and relations between them are still manually tuned. In addition, inter-object relations are mostly modeled in a symmetric way, which we argue is not an optimal setting. To tackle those difficulties, in this paper, we propose a Deep Continuous Conditional Random Field (DCCRF) for solving the online MOT problem in…
The task of multiple people tracking in monocular videos is challenging because of the numerous difficulties involved: occlusions, varying environments, crowded scenes, camera parameters and motion. In the tracking-by-detection paradigm, most approaches adopt person re-identification techniques based on computing the pairwise similarity between detections. However, these techniques are less effective in handling long-term occlusions. By contrast, tracklet (a sequence of detections) re-identification can improve association accuracy since tracklets offer a richer set of visual appearance and sp…
In this paper, we present an approach for tracking people in monocular videos, by predicting their future 3D representations. To achieve this, we first lift people to 3D from a single frame in a robust way. This lifting includes information about the 3D pose of the person, his or her location in the 3D space, and the 3D appearance. As we track a person, we collect 3D observations over time in a tracklet representation. Given the 3D nature of our observations, we build temporal models for each one of the previous attributes. We use these models to predict the future state of the tracklet, inclu…
The automatization of Multi-Object Tracking becomes a demanding task in real unconstrained scenarios, where the algorithms have to deal with crowds, crossing people, occlusions, disappearances and the presence of visually similar individuals. In those circumstances, the data association between the incoming detections and their corresponding identities could miss some tracks or produce identity switches. In order to reduce these tracking errors, and even their propagation in further frames, this article presents a Deep Multi-Shot neural model for measuring the Degree of Appearance Similarity (…
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…
GTATrack: Winner Solution to SoccerTrack 2025 with Deep-EIoU and Global Tracklet Association
Institute of Intelligent Systems\ of AI, National Yang Ming Chiao Tung University Tainan Taiwan；Department of Computer Science , National Yang Ming Chiao Tung University Hsinchu Taiwan；Technology National Central University Taoyuan Taiwan；Institute of Data Science\ Cheng Kung University Tainan Taiwan；Miin Wu School of Computing\ Cheng Kung University Tainan Taiwan；Institute of Intelligent Systems\ of AI, National Yang Ming Chiao Tung University；Department of Computer Science , National Yang Ming Chiao Tung University；Technology National Central University；Institute of Data Science\ Cheng Kung University；Miin Wu School of Computing\ Cheng Kung University
Recognizing human actions from varied views is challenging due to huge appearance variations in different views. The key to this problem is to learn discriminant view-invariant representations generalizing well across views. In this paper, we address this problem by learning view-invariant representations hierarchically using a novel method, referred to as Joint Sparse Representation and Distribution Adaptation (JSRDA). To obtain robust and informative feature representations, we first incorporate a sample-affinity matrix into the marginalized stacked denoising Autoencoder (mSDA) to obtain sha…
In this paper, we present a novel method based on online target-specific metric learning and coherent dynamics estimation for tracklet (track fragment) association by network flow optimization in long-term multi-person tracking. Our proposed framework aims to exploit appearance and motion cues to prevent identity switches during tracking and to recover missed detections. Furthermore, target-specific metrics (appearance cue) and motion dynamics (motion cue) are proposed to be learned and estimated online, i.e. during the tracking process. Our approach is effective even when such cues fail to id…
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…
Université catholique de Louvain（鲁汶天主教大学）；Keemotion（基莫申公司）
This paper assumes prior detections of multiple targets at each time instant, and uses a graph-based approach to connect those detections across time, based on their position and appearance estimates. In contrast to most earlier works in the field, our framework has been designed to exploit the appearance features, even when they are only sporadically available, or affected by a non-stationary noise, along the sequence of detections. This is done by implementing an iterative hypothesis testing strategy to progressively aggregate the detections into short trajectories, named tracklets. Specific…
University of Barcelona（巴塞罗那大学）；Computer Vision Center（计算机视觉中心）
Wearable cameras offer a hands-free way to record egocentric images of daily experiences, where social events are of special interest. The first step towards detection of social events is to track the appearance of multiple persons involved in it. In this paper, we propose a novel method to find correspondences of multiple faces in low temporal resolution egocentric videos acquired through a wearable camera. This kind of photo-stream imposes additional challenges to the multi-tracking problem with respect to conventional videos. Due to the free motion of the camera and to its low temporal reso…
Beijing University of Posts and Telecommunications（北京邮电大学）
In recent years, algorithms for multiple object tracking tasks have benefited from great progresses in deep models and video quality. However, in challenging scenarios like drone videos, they still suffer from problems, such as small objects, camera movements and view changes. In this paper, we propose a new multiple object tracker, which employs Global Information And some Optimizing strategies, named GIAOTracker. It consists of three stages, i.e., online tracking, global link and post-processing. Given detections in every frame, the first stage generates reliable tracklets using information …
Microsoft Research Asia（微软亚洲研究院）；Hong Kong University of Science and Technology（香港科技大学）；Tsinghua University（清华大学）
Recent progress in multiple object tracking (MOT) has shown that a robust similarity score is key to the success of trackers. A good similarity score is expected to reflect multiple cues, e.g. appearance, location, and topology, over a long period of time. However, these cues are heterogeneous, making them hard to be combined in a unified network. As a result, existing methods usually encode them in separate networks or require a complex training approach. In this paper, we present a unified framework for similarity measurement which could simultaneously encode various cues and perform reasoni…
Temporal modeling of objects is a key challenge in multiple object tracking (MOT). Existing methods track by associating detections through motion-based and appearance-based similarity heuristics. The post-processing nature of association prevents end-to-end exploitation of temporal variations in video sequence. In this paper, we propose MOTR, which extends DETR and introduces track query to model the tracked instances in the entire video. Track query is transferred and updated frame-by-frame to perform iterative prediction over time. We propose tracklet-aware label assignment to train track q…
Beijing University of Posts and Telecommunications（北京邮电大学）；Shanghai AI Laboratory（上海人工智能实验室）；Brunel University London（伦敦布鲁内尔大学）
Recently, Multi-Object Tracking (MOT) has attracted rising attention, and accordingly, remarkable progresses have been achieved. However, the existing methods tend to use various basic models (e.g, detector and embedding model), and different training or inference tricks, etc. As a result, the construction of a good baseline for a fair comparison is essential. In this paper, a classic tracker, i.e., DeepSORT, is first revisited, and then is significantly improved from multiple perspectives such as object detection, feature embedding, and trajectory association. The proposed tracker, named Stro…
University of Maryland, College Park（马里兰大学帕克分校）；Academia Sinica（中央研究院）；Waymo（Waymo公司）
Unconstrained video-based face recognition is a challenging problem due to significant within-video variations caused by pose, occlusion and blur. To tackle this problem, an effective idea is to propagate the identity from high-quality faces to low-quality ones through contextual connections, which are constructed based on context such as body appearance. However, previous methods have often propagated erroneous information due to lack of uncertainty modeling of the noisy contextual connections. In this paper, we propose the Uncertainty-Gated Graph (UGG), which conducts graph-based identity pr…
Beijing University of Posts and Telecommunications（北京邮电大学）；Beijing Key Laboratory of Network System and Network Culture（网络系统与网络文化北京市重点实验室）；Key Laboratory of Interactive Technology and Experience System Ministry of Culture and Tourism（交互技术与体验系统文化和旅游部重点实验室）
Huazhong University of Science and Technology（华中科技大学）；Nanyang Technological University（南洋理工大学）
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even the tracklet purity, especially for small objects. Although re-identification is often employed, due to noisy partial-detections, similar appearance, and lack of temporal-spatial constraints, it is not only unreliable and time-consuming, but still cannot address the false negatives for occluded and blurred objects. In this paper, we propose an enhanced MOT pa…
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work presents a real-time vision-based approach to the detection and tracking of robots of known appearance, based on the images captured by a stationary robot. A Histogram of Oriented Gradients descriptor is used to detect the robots and the robot headings are estimated by a multiclass classifier. The tracked robots report their own heading estimate from magnetometer …
WaspMOT: A Benchmark for Long-Term Multi-Object Tracking of Trichogramma Wasps
Inria（法国国家信息与自动化技术研究院）；INRAE Institut Sophia Agrobiotech（法国国家农业生物技术研究院）；Université Côte d'Azur（蔚蓝海岸大学）；Indian Institute of Technology Delhi（德里印度理工学院）；Institute of Plant Protection, Chinese Academy of Agricultural Sciences（中国农业科学院植物保护研究所）
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…
University of Lincoln（林肯大学）；University of Leeds（利兹大学）
Individual pig detection and tracking is an important requirement in many video-based pig monitoring applications. However, it still remains a challenging task in complex scenes, due to problems of light fluctuation, similar appearances of pigs, shape deformations and occlusions. To tackle these problems, we propose a robust real time multiple pig detection and tracking method which does not require manual marking or physical identification of the pigs, and works under both daylight and infrared light conditions. Our method couples a CNN-based detector and a correlation filter-based tracker vi…
Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in computer vision algorithms, these algorithms are not usually optimized for dealing with images or video sequences acquired by drones, due to various challenges such as occlusion, fast camera motion and pose variation. In this paper, a drone-based multi-object tracking and 3D localization scheme is proposed based on the deep learning based object detection. We …
Tracking by detection is a common approach to solving the Multiple Object Tracking problem. In this paper we show how learning a deep similarity metric can improve three key aspects of pedestrian tracking on a multiple object tracking benchmark. We train a convolutional neural network to learn an embedding function in a Siamese configuration on a large person re-identification dataset. The offline-trained embedding network is integrated in to the tracking formulation to improve performance while retaining real-time performance. The proposed tracker stores appearance metrics while detections ar…
Wuhan University（武汉大学）；State University of New York at Buffalo（纽约州立大学布法罗分校）
Action visual tempo characterizes the dynamics and the temporal scale of an action, which is helpful to distinguish human actions that share high similarities in visual dynamics and appearance. Previous methods capture the visual tempo either by sampling raw videos with multiple rates, which require a costly multi-layer network to handle each rate, or by hierarchically sampling backbone features, which rely heavily on high-level features that miss fine-grained temporal dynamics. In this work, we propose a Temporal Correlation Module (TCM), which can be easily embedded into the current action r…
TrackDiffusion: Tracklet-Conditioned Video Generation via Diffusion Models
Dalian University of Technology（大连理工大学）；Hong Kong University of Science and Technology（香港科技大学）；Huawei Noah’s Ark Lab（华为诺亚方舟实验室）；The Chinese University of Hong Kong（香港中文大学）
We extend the classical tracking-by-detection paradigm to this tracking-any-object task. Solid detection results are first extracted from TAO dataset. Some state-of-the-art techniques like \textbf{BA}lanced-\textbf{G}roup \textbf{S}oftmax (\textbf{BAGS}\cite{li2020overcoming}) and DetectoRS\cite{qiao2020detectors} are integrated during detection. Then we learned appearance features to represent any object by training feature learning networks. We ensemble several models for improving detection and feature representation. Simple linking strategies with most similar appearance features and track…
DINO-CoDT: Multi-class Collaborative Detection and Tracking with Vision Foundation Models
School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学）；Advanced Robotics Centre, Mechanical Engineering, National University of Singapore（先进机器人中心，新加坡国立大学）
We present a novel approach for tracking multiple people in video. Unlike past approaches which employ 2D representations, we focus on using 3D representations of people, located in three-dimensional space. To this end, we develop a method, Human Mesh and Appearance Recovery (HMAR) which in addition to extracting the 3D geometry of the person as a SMPL mesh, also extracts appearance as a texture map on the triangles of the mesh. This serves as a 3D representation for appearance that is robust to viewpoint and pose changes. Given a video clip, we first detect bounding boxes corresponding to peo…
Temporally-Aware Supervised Contrastive Learning for Polyp Counting in Colonoscopy
Department of Mathematics, University of Padova, Padova, Italy（帕多瓦大学数学系）；Cosmo Intelligent Medical Devices, Dublin, Ireland（科莫智能医疗设备公司）；Milan Center for Neuroscience, University of Milano–Bicocca, Milan, Italy（米兰神经科学中心）
OmniTrack++: Omnidirectional Multi-Object Tracking by Learning Large-FoV Trajectory Feedback
Hunan University（湖南大学）；Zhejiang University（浙江大学）；Ant Group（蚂蚁集团）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；INSAIT, Sofia University ``St. Kliment Ohridski''（INSAIT，索菲亚大学『圣克莱门特·奥赫里迪斯』）
Beijing University of Aeronautics and Astronautics（北京航空航天大学）
One of the fundamental requirements for visual surveillance using non-overlapping camera networks is the correct labeling of tracked objects on each camera in a consistent way,in the sense that the captured tracklets, or observations in this paper, of the same object at different cameras should be assigned with the same label. In this paper, we formulate this task as a Bayesian inference problem and propose a distributed inference framework in which the posterior distribution of labeling variable corresponding to each observation, conditioned on all history appearance and spatio-temporal evide…
Nanjing University of Science and Technology（南京理工大学）；University of Electronic Science and Technology of China（电子科技大学）
Optical flow is an easily conceived and precious cue for advancing unsupervised video object segmentation (UVOS). Most of the previous methods directly extract and fuse the motion and appearance features for segmenting target objects in the UVOS setting. However, optical flow is intrinsically an instantaneous velocity of all pixels among consecutive frames, thus making the motion features not aligned well with the primary objects among the corresponding frames. To solve the above challenge, we propose a concise, practical, and efficient architecture for appearance and motion feature alignment,…
ETH Zurich（苏黎世联邦理工学院）；Beijing Institute of Technology（北京理工大学）；Inception Institute of Artificial Intelligence（起源人工智能研究院）
This paper addresses the task of unsupervised video multi-object segmentation. Current approaches follow a two-stage paradigm: 1) detect object proposals using pre-trained Mask R-CNN, and 2) conduct generic feature matching for temporal association using re-identification techniques. However, the generic features, widely used in both stages, are not reliable for characterizing unseen objects, leading to poor generalization. To address this, we introduce a novel approach for more accurate and efficient spatio-temporal segmentation. In particular, to address \textbf{instance discrimination}, we …
DriveEditor: A Unified 3D Information-Guided Framework for Controllable Object Editing in Driving Scenes
Huazhong University of Science and Technology（华中科技大学）；National Key Laboratory of Multispectral Information Intelligent Processing Technology（多光谱信息智能处理技术国家重点实验室）；Wangxuan Institute of Computer Technology, Peking University（北京大学王选计算机研究所）
Short video applications like TikTok and Kwai have been a great hit recently. In order to meet the increasing demands and take full advantage of visual information in short videos, objects in each short video need to be located and analyzed as an upstream task. A question is thus raised -- how to improve the accuracy and robustness of object detection, tracking, and re-identification across tons of short videos with hundreds of categories and complicated visual effects (VFX). To this end, a system composed of a detection module, a tracking module and a generic object re-identification module, …
