Multi-object tracking in traffic videos is a crucial research area, offering immense potential for enhancing traffic monitoring accuracy and promoting road safety measures through the utilisation of advanced machine learning algorithms. However, existing datasets for multi-object tracking in traffic videos often feature limited instances or focus on single classes, which cannot well simulate the challenges encountered in complex traffic scenarios. To address this gap, we introduce TrafficMOT, an extensive dataset designed to encompass diverse traffic situations with complex scenarios. To validate the complexity and challenges presented by TrafficMOT, we conducted comprehensive empirical studies using three different settings: fully-supervised, semi-supervised, and a recent powerful zero-shot foundation model Tracking Anything Model (TAM). The experimental results highlight the inherent complexity of this dataset, emphasising its value in driving advancements in the field of traffic monitoring and multi-object tracking.
TUMTraf EMOT: Event-Based Multi-Object Tracking Dataset and Baseline for Traffic Scenarios
School of Automation, Southeast University（东南大学自动化学院）；Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich（慕尼黑技术大学机器人与人工智能与实时系统教授职位）；Department of Computer Science and Technology, Tongji University（同济大学计算机科学与技术系）
University of Electronic Science and Technology of China（电子科技大学）；Polytechnique Montréal（蒙特利尔理工学院）
Recently, the Kernelized Correlation Filters tracker (KCF) achieved competitive performance and robustness in visual object tracking. On the other hand, visual trackers are not typically used in multiple object tracking. In this paper, we investigate how a robust visual tracker like KCF can improve multiple object tracking. Since KCF is a fast tracker, many can be used in parallel and still result in fast tracking. We build a multiple object tracking system based on KCF and background subtraction. Background subtraction is applied to extract moving objects and get their scale and size in combi…
In this paper, we propose a multiple object tracker, called MF-Tracker, that integrates multiple classical features (spatial distances and colours) and modern features (detection labels and re-identification features) in its tracking framework. Since our tracker can work with detections coming either from unsupervised and supervised object detectors, we also investigated the impact of supervised and unsupervised detection inputs in our method and for tracking road users in general. We also compared our results with existing methods that were applied on the UA-Detrac and the UrbanTracker datase…
To deal with many pedestrian data, automatic data collection is needed. This paper describes how to automate the microscopic pedestrian flow data collection from video files. The study is restricted only to pedestrians without considering vehicular - pedestrian interaction. Pedestrian tracking system consists of three sub-systems, which calculates the image processing, object tracking and traffic flow variables. The system receives input of stacks of images and parameters. The first sub-system performs Image Processing analysis while the second sub-system carries out the tracking of pedestrian…
Tracking without Seeing: Geospatial Inference using Encrypted Traffic from Distributed Nodes
University of California, Los Angeles（加利福尼亚大学洛杉矶分校）；DEVCOM Army Research Laboratory（DEVCOM陆军研究实验室）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
In recent decades, due to the groundbreaking improvements in machine vision, many daily tasks are performed by computers. One of these tasks is multiple-vehicle tracking, which is widely used in different areas such as video surveillance and traffic monitoring. This paper focuses on introducing an efficient novel approach with acceptable accuracy. This is achieved through an efficient appearance and motion model based on the features extracted from each object. For this purpose, two different approaches have been used to extract features, i.e. features extracted from a deep neural network, and…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT) including target information description, long-term occlusions and fast motion. We propose a multi-vehicle detection and tracking system following the tracking-by-detection paradigm that tackles the previously mentioned challenges. Our MOT method extends an Intersection-over-Union (IOU)-based tracker with vehicle re-identification features. This allows us to utiliz…
Stanford University（斯坦福大学）；Toyota Research Institute（丰田研究院）
3D multi-object tracking aims to uniquely and consistently identify all mobile entities through time. Despite the rich spatiotemporal information available in this setting, current 3D tracking methods primarily rely on abstracted information and limited history, e.g. single-frame object bounding boxes. In this work, we develop a holistic representation of traffic scenes that leverages both spatial and temporal information of the actors in the scene. Specifically, we reformulate tracking as a spatiotemporal problem by representing tracked objects as sequences of time-stamped points and bounding…
Boston University（波士顿大学）；University of Washington（华盛顿大学）
Natural Language (NL) descriptions can be one of the most convenient or the only way to interact with systems built to understand and detect city scale traffic patterns and vehicle-related events. In this paper, we extend the widely adopted CityFlow Benchmark with NL descriptions for vehicle targets and introduce the CityFlow-NL Benchmark. The CityFlow-NL contains more than 5,000 unique and precise NL descriptions of vehicle targets, making it the first multi-target multi-camera tracking with NL descriptions dataset to our knowledge. Moreover, the dataset facilitates research at the intersecti…
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…
Most existing perception systems rely on sensory data acquired from cameras, which perform poorly in low light and adverse weather conditions. To resolve this limitation, we have witnessed advanced LiDAR sensors become popular in perception tasks in autonomous driving applications. Nevertheless, their usage in traffic monitoring systems is less ubiquitous. We identify two significant obstacles in cost-effectively and efficiently developing such a LiDAR-based traffic monitoring system: (i) public LiDAR datasets are insufficient for supporting perception tasks in infrastructure systems, and (ii)…
Nanyang Technological University（南洋理工大学）；National University of Singapore（新加坡国立大学）
In this paper, we present EBBIOT-a novel paradigm for object tracking using stationary neuromorphic vision sensors in low-power sensor nodes for the Internet of Video Things (IoVT). Different from fully event based tracking or fully frame based approaches, we propose a mixed approach where we create event-based binary images (EBBI) that can use memory efficient noise filtering algorithms. We exploit the motion triggering aspect of neuromorphic sensors to generate region proposals based on event density counts with >1000X less memory and computes compared to frame based approaches. We also prop…
Visual object tracking task is constantly gaining importance in several fields of application as traffic monitoring, robotics, and surveillance, to name a few. Dealing with changes in the appearance of the tracked object is paramount to achieve high tracking accuracy, and is usually achieved by continually learning features. Recently, deep learning-based trackers based on LSTMs (Long Short-Term Memory) recurrent neural networks have emerged as a powerful alternative, bypassing the need to retrain the feature extraction in an online fashion. Inspired by the success of residual and dense network…
Multiple object tracking (MOT) in urban traffic aims to produce the trajectories of the different road users that move across the field of view with different directions and speeds and that can have varying appearances and sizes. Occlusions and interactions among the different objects are expected and common due to the nature of urban road traffic. In this work, a tracking framework employing classification label information from a deep learning detection approach is used for associating the different objects, in addition to object position and appearances. We want to investigate the performan…
New York University（纽约大学）；Chongqing University of Technology（重庆理工大学）
Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object tracking requires that the object is successfully detected in the first frame and all subsequent frames, and tracking is done by associating detection results. Performing object detection and object tracking through a single network remains a challenging open question. We propose a novel network structure named trackNet that can directly detect a 3D tube enclosin…
In this paper, we propose to combine detections from background subtraction and from a multiclass object detector for multiple object tracking (MOT) in urban traffic scenes. These objects are associated across frames using spatial, colour and class label information, and trajectory prediction is evaluated to yield the final MOT outputs. The proposed method was tested on the Urban tracker dataset and shows competitive performances compared to state-of-the-art approaches. Results show that the integration of different detection inputs remains a challenging task that greatly affects the MOT perfo…
University Technology Malaysia（马来西亚工艺大学）；Iraqi University（伊拉克大学）；Baghdad University（巴格达大学）
Vehicle detection and tracking applications play an important role for civilian and military applications such as in highway traffic surveillance control, management and urban traffic planning. Vehicle detection process on road are used for vehicle tracking, counts, average speed of each individual vehicle, traffic analysis and vehicle categorizing objectives and may be implemented under different environments changes. In this review, we present a concise overview of image processing methods and analysis tools which used in building these previous mentioned applications that involved developin…
Development of computing power and cheap video cameras enabled today's traffic management systems to include more cameras and computer vision applications for transportation system monitoring and control. Combined with image processing algorithms cameras are used as sensors to measure road traffic parameters like flow volume, origin-destination matrices, classify vehicles, etc. In this paper we propose a system for measurement of road traffic parameters (basic motion model parameters and macro-scopic traffic parameters). The system is based on Local Binary Pattern (LBP) image features classifi…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc. The main challenge is due to the noisy and incomplete perception including inevitable false negative and false positive errors from a low-level detector. In this paper, we propose a novel multi-object tracking and identification over sets approach to address this challenge. We define joint states and observations both as finite sets, and develop motion and ob…
Stanford University（斯坦福大学）；Toyota Research Institute（丰田研究院）
Multi-object tracking is an important ability for an autonomous vehicle to safely navigate a traffic scene. Current state-of-the-art follows the tracking-by-detection paradigm where existing tracks are associated with detected objects through some distance metric. The key challenges to increase tracking accuracy lie in data association and track life cycle management. We propose a probabilistic, multi-modal, multi-object tracking system consisting of different trainable modules to provide robust and data-driven tracking results. First, we learn how to fuse features from 2D images and 3D LiDAR …
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…
National Yang Ming Chiao Tung University（国立阳明交通大学）
We design a fast car detection and tracking algorithm for traffic monitoring fisheye video mounted on crossroads. We use ICIP 2020 VIP Cup dataset and adopt YOLOv5 as the object detection base model. The nighttime video of this dataset is very challenging, and the detection accuracy (AP50) of the base model is about 54%. We design a reliable car detection and tracking algorithm based on the concept of bounding box propagation among frames, which provides 17.9 percentage points (pp) and 6.2 pp. accuracy improvement over the base model for the nighttime and daytime videos, respectively. To speed…
Virginia Polytechnic Institute and State University（弗吉尼亚理工学院暨州立大学）
In a previous study, we presented VT-Lane, a three-step framework for real-time vehicle detection, tracking, and turn movement classification at urban intersections. In this study, we present a case study incorporating the highly accurate trajectories and movement classification obtained via VT-Lane for the purpose of speed estimation and driver behavior calibration for traffic at urban intersections. First, we use a highly instrumented vehicle to verify the estimated speeds obtained from video inference. The results of the speed validation show that our method can estimate the average travel …
Tracking in urban street scenes plays a central role in autonomous systems such as self-driving cars. Most of the current vision-based tracking methods perform tracking in the image domain. Other approaches, eg based on LIDAR and radar, track purely in 3D. While some vision-based tracking methods invoke 3D information in parts of their pipeline, and some 3D-based methods utilize image-based information in components of their approach, we propose to use image- and world-space information jointly throughout our method. We present our tracking pipeline as a 3D extension of image-based tracking. F…
Urban Traffic Surveillance (UTS) is a surveillance system based on a monocular and calibrated video camera that detects vehicles in an urban traffic scenario with dense traffic on multiple lanes and vehicles performing sharp turning maneuvers. UTS then tracks the vehicles using a 3D bounding box representation and a physically reasonable 3D motion model relying on an unscented Kalman filter based approach. Since UTS recovers positions, shape and motion information in a three-dimensional world coordinate system, it can be employed to recognize diverse traffic violations or to supply intelligent…
3D Extended Object Tracking based on Extruded B-Spline Side View Profiles
Fraunhofer IVI（弗劳恩霍夫应用中心（连通移动与基础设施））；Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院）；Technische Hochschule Ingolstadt（英戈尔施塔特应用科学大学）；Fraunhofer IOSB（弗劳恩霍夫光学系统研究所）
In many Asian countries with unconstrained road traffic conditions, driving violations such as not wearing helmets and triple-riding are a significant source of fatalities involving motorcycles. Identifying and penalizing such riders is vital in curbing road accidents and improving citizens' safety. With this motivation, we propose an approach for detecting, tracking, and counting motorcycle riding violations in videos taken from a vehicle-mounted dashboard camera. We employ a curriculum learning-based object detector to better tackle challenging scenarios such as occlusions. We introduce a no…
Detect-and-Avoid (DAA) capabilities are critical for safe operations of unmanned aircraft systems (UAS). This paper introduces, AirTrack, a real-time vision-only detect and tracking framework that respects the size, weight, and power (SWaP) constraints of sUAS systems. Given the low Signal-to-Noise ratios (SNR) of far away aircraft, we propose using full resolution images in a deep learning framework that aligns successive images to remove ego-motion. The aligned images are then used downstream in cascaded primary and secondary classifiers to improve detection and tracking performance on multi…
Chittagong University of Engineering and Technology（吉大港工程技术大学）
Wrong-way driving is one of the main causes of road accidents and traffic jam all over the world. By detecting wrong-way vehicles, the number of accidents can be minimized and traffic jam can be reduced. With the increasing popularity of real-time traffic management systems and due to the availability of cheaper cameras, the surveillance video has become a big source of data. In this paper, we propose an automatic wrong-way vehicle detection system from on-road surveillance camera footage. Our system works in three stages: the detection of vehicles from the video frame by using the You Only Lo…
A Robust Deep Networks based Multi-Object MultiCamera Tracking System for City Scale Traffic
COMSATS University Islamabad, Lahore Campus（COMSATS大学伊斯兰堡分校拉合尔校区）；Pakistan Navy Engineering College, National University of Sciences and Technology (NUST)（巴基斯坦国立科技大学巴基斯坦海军工程学院）
提出一种基于深度学习的多目标多摄像头跟踪框架，利用Mask R-CNN、迁移学习与Deep SORT等技术解决城市规模交通中的车辆跟踪难题，在AI City Challenge数据集上取得IDF1为0.8289的优异性能。
In Intelligent Transportation System, real-time systems that monitor and analyze road users become increasingly critical as we march toward the smart city era. Vision-based frameworks for Object Detection, Multiple Object Tracking, and Traffic Near Accident Detection are important applications of Intelligent Transportation System, particularly in video surveillance and etc. Although deep neural networks have recently achieved great success in many computer vision tasks, a uniformed framework for all the three tasks is still challenging where the challenges multiply from demand for real-time pe…
NVIDIA（英伟达）；San Jose State University（圣何塞州立大学）；University of Washington（华盛顿大学）
Urban traffic optimization using traffic cameras as sensors is driving the need to advance state-of-the-art multi-target multi-camera (MTMC) tracking. This work introduces CityFlow, a city-scale traffic camera dataset consisting of more than 3 hours of synchronized HD videos from 40 cameras across 10 intersections, with the longest distance between two simultaneous cameras being 2.5 km. To the best of our knowledge, CityFlow is the largest-scale dataset in terms of spatial coverage and the number of cameras/videos in an urban environment. The dataset contains more than 200K annotated bounding …
This paper presents the learned techniques during the Video Analysis Module of the Master in Computer Vision from the Universitat Autònoma de Barcelona, used to solve the third track of the AI-City Challenge. This challenge aims to track vehicles across multiple cameras placed in multiple intersections spread out over a city. The methodology followed focuses first in solving multi-tracking in a single camera and then extending it to multiple cameras. The qualitative results of the implemented techniques are presented using standard metrics for video analysis such as mAP for object detection an…
Varying weather conditions, including rainfall and snowfall, are generally regarded as a challenge for computer vision algorithms. One proposed solution to the challenges induced by rain and snowfall is to artificially remove the rain from images or video using rain removal algorithms. It is the promise of these algorithms that the rain-removed image frames will improve the performance of subsequent segmentation and tracking algorithms. However, rain removal algorithms are typically evaluated on their ability to remove synthetic rain on a small subset of images. Currently, their behavior is un…
MEDAVET: Traffic Vehicle Anomaly Detection Mechanism based on spatial and temporal structures in vehicle traffic
Universidade de São Paulo（圣保罗大学）；State University of Southwest Bahia（巴伊亚西南州立大学）；University of Manchester（曼彻斯特大学）；Brock University（布罗克大学）；Institute of Mathematical and Computer Sciences, University of São Paulo（圣保罗大学数学与计算机科学研究所）
本文提出 MEDAVET 机制，通过计算机视觉检测、二分图与凸包跟踪车辆，并结合 QuadTree 和遮挡车辆结构检测高速公路交通异常，在 Track4 上取得 F1 85.7%。
Wuhan University of Technology（武汉理工大学）；National Engineering Research Center for Water Transport Safety（国家水运安全工程技术研究中心）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
The automatic identification system (AIS) and video cameras have been widely exploited for vessel traffic surveillance in inland waterways. The AIS data could provide the vessel identity and dynamic information on vessel position and movements. In contrast, the video data could describe the visual appearances of moving vessels, but without knowing the information on identity, position and movements, etc. To further improve vessel traffic surveillance, it becomes necessary to fuse the AIS and video data to simultaneously capture the visual features, identity and dynamic information for the vess…
Large driving datasets are a key component in the current development and safeguarding of automated driving functions. Various methods can be used to collect such driving data records. In addition to the use of sensor equipped research vehicles or unmanned aerial vehicles (UAVs), the use of infrastructure sensor technology offers another alternative. To minimize object occlusion during data collection, it is crucial to record the traffic situation from several perspectives in parallel. A fusion of all raw sensor data might create better conditions for multi-object detection and tracking (MODT)…
Hochschule Bonn-Rhein-Sieg（波恩-莱茵-锡格应用科学大学）；Vietnamese German University（越南德国大学）；University of California San Diego（加利福尼亚大学圣迭戈分校）
Air pollution is an emerging problem that needs to be solved especially in developed and developing countries. In Vietnam, air pollution is also a concerning issue in big cities such as Hanoi and Ho Chi Minh cities where air pollution comes mostly from vehicles such as cars and motorbikes. In order to tackle the problem, the paper focuses on developing a solution that can estimate the emitted PM2.5 pollutants by counting the number of vehicles in the traffic. We first investigated among the recent object detection models and developed our own traffic surveillance system. The observed traffic d…
Video-based vehicle detection and tracking is one of the most important components for Intelligent Transportation Systems (ITS). When it comes to road junctions, the problem becomes even more difficult due to the occlusions and complex interactions among vehicles. In order to get a precise detection and tracking result, in this work we propose a novel tracking-by-detection framework. In the detection stage, we present a sequential detection model to deal with serious occlusions. In the tracking stage, we model group behavior to treat complex interactions with overlaps and ambiguities. The main…
Various methods to automate traffic data collection have recently been developed by many researchers. A macroscopic data collection through image processing has been proposed. For microscopic traffic flow data, such as individual speed and time or distance headway, tracking of individual movement is needed. The tracking algorithms for pedestrian or vehicle have been developed to trace the movement of one or two pedestrians based on sign pattern, and feature detection. No research has been done to track many pedestrians or vehicles at once. This paper describes a new and fast algorithm to track…
3D multi-object detection and tracking are crucial for traffic scene understanding. However, the community pays less attention to these areas due to the lack of a standardized benchmark dataset to advance the field. Moreover, existing datasets (e.g., KITTI) do not provide sufficient data and labels to tackle challenging scenes where highly interactive and occluded traffic participants are present. To address the issues, we present the Honda Research Institute 3D Dataset (H3D), a large-scale full-surround 3D multi-object detection and tracking dataset collected using a 3D LiDAR scanner. H3D com…
InScope: A New Real-world 3D Infrastructure-side Collaborative Perception Dataset for Open Traffic Scenarios
School of Intelligent Systems Engineering, Sun Yat-sen University（智能系统工程学院，中山大学）；Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai)（广东海洋科学与工程实验室（珠海））
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…
