An accurate detection and tracking of devices such as guiding catheters in live X-ray image acquisitions is an essential prerequisite for endovascular cardiac interventions. This information is leveraged for procedural guidance, e.g., directing stent placements. To ensure procedural safety and efficacy, there is a need for high robustness no failures during tracking. To achieve that, one needs to efficiently tackle challenges, such as: device obscuration by contrast agent or other external devices or wires, changes in field-of-view or acquisition angle, as well as the continuous movement due to cardiac and respiratory motion. To overcome the aforementioned challenges, we propose a novel approach to learn spatio-temporal features from a very large data cohort of over 16 million interventional X-ray frames using self-supervision for image sequence data. Our approach is based on a masked image modeling technique that leverages frame interpolation based reconstruction to learn fine inter-frame temporal correspondences. The features encoded in the resulting model are fine-tuned downstream. Our approach achieves state-of-the-art performance and in particular robustness compared to ultra optimized reference solutions (that use multi-stage feature fusion, multi-task and flow regularization). The experiments show that our method achieves 66.31% reduction in maximum tracking error against reference solutions (23.20% when flow regularization is used); achieving a success score of 97.95% at a 3x faster inference speed of 42 frames-per-second (on GPU). The results encourage the use of our approach in various other tasks within interventional image analytics that require effective understanding of spatio-temporal semantics.
Towards Low-Latency Event Stream-based Visual Object Tracking: A Slow-Fast Approach
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；Beijing Institute of Technology（北京理工大学）；School of Electronic and Information Engineering, Anhui University（安徽大学电子与信息工程学院）；Peng Cheng Laboratory（鹏城实验室）；School of Computer Science, Peking University（北京大学计算机科学学院）；School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University（北京大学深圳研究生院电子与计算机工程学院）
In this paper, we propose a self-supervised RGB-T tracking method. Different from existing deep RGB-T trackers that use a large number of annotated RGB-T image pairs for training, our RGB-T tracker is trained using unlabeled RGB-T video pairs in a self-supervised manner. We propose a novel cross-input consistency-based self-supervised training strategy based on the idea that tracking can be performed using different inputs. Specifically, we construct two distinct inputs using unlabeled RGB-T video pairs. We then track objects using these two inputs to generate results, based on which we constr…
Deep regression trackers are among the fastest tracking algorithms available, and therefore suitable for real-time robotic applications. However, their accuracy is inadequate in many domains due to distribution shift and overfitting. In this paper we overcome such limitations by presenting the first methodology for domain adaption of such a class of trackers. To reduce the labeling effort we propose a weakly-supervised adaptation strategy, in which reinforcement learning is used to express weak supervision as a scalar application-dependent and temporally-delayed feedback. At the same time, kno…
CathFlow: Self-Supervised Segmentation of Catheters in Interventional Ultrasound Using Optical Flow and Transformers
Hamlyn Centre for Robotic Surgery, Imperial College London（伦敦帝国理工学院哈姆林外科机器人中心）；Technical University of Munich（慕尼黑工业大学）；Munich Center for Machine Learning（慕尼黑机器学习中心）
Visual Geometry Group, Department of Engineering Science（工程科学系视觉几何组）；University of Oxford（牛津大学）
Recent interest in self-supervised dense tracking has yielded rapid progress, but performance still remains far from supervised methods. We propose a dense tracking model trained on videos without any annotations that surpasses previous self-supervised methods on existing benchmarks by a significant margin (+15%), and achieves performance comparable to supervised methods. In this paper, we first reassess the traditional choices used for self-supervised training and reconstruction loss by conducting thorough experiments that finally elucidate the optimal choices. Second, we further improve on e…
Self-supervised Learning for Human Activity Recognition Using 700,000 Person-days of Wearable Data
University of Oxford（牛津大学）；Nuffield Department of Population Health, University of Oxford（牛津大学纳菲尔德人口健康系）；Big Data Institute, University of Oxford（牛津大学大数据研究所）；Department of Engineering Science, University of Oxford（牛津大学工程科学系）；Department of Computer Science, University of Oxford（牛津大学计算机科学系）
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…
University of Birmingham（伯明翰大学）；National University of Defense Technology（国防科技大学）
This article presents a semantic tracker which simultaneously tracks a single target and recognises its category. In general, it is hard to design a tracking model suitable for all object categories, e.g., a rigid tracker for a car is not suitable for a deformable gymnast. Category-based trackers usually achieve superior tracking performance for the objects of that specific category, but have difficulties being generalised. Therefore, we propose a novel unified robust tracking framework which explicitly encodes both generic features and category-based features. The tracker consists of a shared…
Institute of Software Chinese Academy of Sciences（中国科学院软件研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)（南方海洋科学与工程广东省实验室（广州））；Renmin University of China（中国人民大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；The Hong Kong University of Science and Technology（香港科技大学）
Contrastive learning (CL)-based self-supervised learning models learn visual representations in a pairwise manner. Although the prevailing CL model has achieved great progress, in this paper, we uncover an ever-overlooked phenomenon: When the CL model is trained with full images, the performance tested in full images is better than that in foreground areas; when the CL model is trained with foreground areas, the performance tested in full images is worse than that in foreground areas. This observation reveals that backgrounds in images may interfere with the model learning semantic information…
University of Science and Technology of China（中国科学技术大学）；Tencent AI Lab（腾讯人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）
We propose an unsupervised visual tracking method in this paper. Different from existing approaches using extensive annotated data for supervised learning, our CNN model is trained on large-scale unlabeled videos in an unsupervised manner. Our motivation is that a robust tracker should be effective in both the forward and backward predictions (i.e., the tracker can forward localize the target object in successive frames and backtrace to its initial position in the first frame). We build our framework on a Siamese correlation filter network, which is trained using unlabeled raw videos. Meanwhil…
Boosting Self-Supervised Tracking with Contextual Prompts and Noise Learning
Key Laboratory of Education Blockchain and Intelligent Technology, Ministry of Education Guangxi Normal University（教育区块链与智能技术重点实验室，教育部广西师范大学）；University Engineering Research Center of Educational Intelligent Technology Guangxi Normal University（教育智能技术大学工程研究中心，广西师范大学）；University of Southampton（南安普顿大学）；Xi’an Research Institute of High Technology（西安高科技研究所）
CCCC First Highway Consultants Co., Ltd（中交第一公路勘察设计研究院有限公司）；Xidian University（西安电子科技大学）；Yongjiang laboratory（甬江实验室）
Spiking neural network (SNN) is a biologically-plausible model and exhibits advantages of high computational capability and low power consumption. While the training of deep SNN is still an open problem, which limits the real-world applications of deep SNN. Here we propose a deep SNN architecture named Spiking SiamFC++ for object tracking with end-to-end direct training. Specifically, the AlexNet network is extended in the time domain to extract the feature, and the surrogate gradient function is adopted to realize direct supervised training of the deep SNN. To examine the performance of the S…
RIKEN Center for Advanced Intelligence Project (AIP)（理化学研究所先进智能项目中心）
Neural networks for multi-domain learning empowers an effective combination of information from different domains by sharing and co-learning the parameters. In visual tracking, the emerging features in shared layers of a multi-domain tracker, trained on various sequences, are crucial for tracking in unseen videos. Yet, in a fully shared architecture, some of the emerging features are useful only in a specific domain, reducing the generalization of the learned feature representation. We propose a semi-supervised learning scheme to separate domain-invariant and domain-specific features using adv…
Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）；Honda Research Institute（本田研究院）
3D object trackers usually require training on large amounts of annotated data that is expensive and time-consuming to collect. Instead, we propose leveraging vast unlabeled datasets by self-supervised metric learning of 3D object trackers, with a focus on data association. Large scale annotations for unlabeled data are cheaply obtained by automatic object detection and association across frames. We show how these self-supervised annotations can be used in a principled manner to learn point-cloud embeddings that are effective for 3D tracking. We estimate and incorporate uncertainty in self-sup…
University of Science and Technology of China（中国科学技术大学）；Hefei Comprehensive National Science Center（合肥综合性国家科学中心）；Tencent AI Lab（腾讯人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）
The advancement of visual tracking has continuously been brought by deep learning models. Typically, supervised learning is employed to train these models with expensive labeled data. In order to reduce the workload of manual annotations and learn to track arbitrary objects, we propose an unsupervised learning method for visual tracking. The motivation of our unsupervised learning is that a robust tracker should be effective in bidirectional tracking. Specifically, the tracker is able to forward localize a target object in successive frames and backtrace to its initial position in the first fr…
Visual object tracking often employs a multi-stage pipeline of feature extraction, target information integration, and bounding box estimation. To simplify this pipeline and unify the process of feature extraction and target information integration, in this paper, we present a compact tracking framework, termed as MixFormer, built upon transformers. Our core design is to utilize the flexibility of attention operations, and propose a Mixed Attention Module (MAM) for simultaneous feature extraction and target information integration. This synchronous modeling scheme allows to extract target-spec…
Learning to Track Instance from Single Nature Language Description
Key Laboratory of Education Blockchain and Intelligent Technology, Ministry of Education Guangxi Normal University（教育区块链与智能技术重点实验室，教育部广西师范大学）；University Engineering Research Center of Educational Intelligent Technology Guangxi Normal University（教育智能技术大学工程研究中心，广西师范大学）；University of Southampton（南安普顿大学）
University of Southern California（南加州大学）；Army Research Laboratory（陆军研究实验室）
An unsupervised online object tracking method that exploits both foreground and background correlations is proposed and named UHP-SOT (Unsupervised High-Performance Single Object Tracker) in this work. UHP-SOT consists of three modules: 1) appearance model update, 2) background motion modeling, and 3) trajectory-based box prediction. A state-of-the-art discriminative correlation filters (DCF) based tracker is adopted by UHP-SOT as the first module. We point out shortcomings of using the first module alone such as failure in recovering from tracking loss and inflexibility in object box adaptati…
University of Missouri（密苏里大学）；TCL Research America（TCL美国研究院）
In this paper, we develop a new approach of spatially supervised recurrent convolutional neural networks for visual object tracking. Our recurrent convolutional network exploits the history of locations as well as the distinctive visual features learned by the deep neural networks. Inspired by recent bounding box regression methods for object detection, we study the regression capability of Long Short-Term Memory (LSTM) in the temporal domain, and propose to concatenate high-level visual features produced by convolutional networks with region information. In contrast to existing deep learning …
Inception Institute of Artificial Intelligence（起源人工智能研究院）
Gleason grading from histopathology images is essential for accurate prostate cancer (PCa) diagnosis. Since such images are obtained after invasive tissue resection quick diagnosis is challenging under the existing paradigm. We propose a method to predict Gleason grades from magnetic resonance (MR) images which are non-interventional and easily acquired. We solve the problem in a generalized zero-shot learning (GZSL) setting since we may not access training images of every disease grade. Synthetic MRI feature vectors of unseen grades (classes) are generated by exploiting Gleason grades' ordere…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Amazon Web Services（亚马逊云服务）
In this paper, we explore learning end-to-end deep neural trackers without tracking annotations. This is important as large-scale training data is essential for training deep neural trackers while tracking annotations are expensive to acquire. In place of tracking annotations, we first hallucinate videos from images with bounding box annotations using zoom-in/out motion transformations to obtain free tracking labels. We add video simulation augmentations to create a diverse tracking dataset, albeit with simple motion. Next, to tackle harder tracking cases, we mine hard examples across an unlab…
University of Southern California（南加州大学）；Army Research Laboratory（美国陆军研究实验室）
An unsupervised, lightweight and high-performance single object tracker, called UHP-SOT, was proposed by Zhou et al. recently. As an extension, we present an enhanced version and name it UHP-SOT++ in this work. Built upon the foundation of the discriminative-correlation-filters-based (DCF-based) tracker, two new ingredients are introduced in UHP-SOT and UHP-SOT++: 1) background motion modeling and 2) object box trajectory modeling. The main difference between UHP-SOT and UHP-SOT++ is the fusion strategy of proposals from three models (i.e., DCF, background motion and object box trajectory mode…
University of Southern California（南加州大学）；Army Research Laboratory（陆军研究实验室）
Supervised and unsupervised deep trackers that rely on deep learning technologies are popular in recent years. Yet, they demand high computational complexity and a high memory cost. A green unsupervised single-object tracker, called GUSOT, that aims at object tracking for long videos under a resource-constrained environment is proposed in this work. Built upon a baseline tracker, UHP-SOT++, which works well for short-term tracking, GUSOT contains two additional new modules: 1) lost object recovery, and 2) color-saliency-based shape proposal. They help resolve the tracking loss problem and offe…
PAII Inc（PAII公司）；Ping An Technology（平安科技）；Chang Gung Memorial Hospital（长庚纪念医院）
Monitoring treatment response in longitudinal studies plays an important role in clinical practice. Accurately identifying lesions across serial imaging follow-up is the core to the monitoring procedure. Typically this incorporates both image and anatomical considerations. However, matching lesions manually is labor-intensive and time-consuming. In this work, we present deep lesion tracker (DLT), a deep learning approach that uses both appearance- and anatomical-based signals. To incorporate anatomical constraints, we propose an anatomical signal encoder, which prevents lesions being matched w…
Online tracking of multiple objects in videos requires strong capacity of modeling and matching object appearances. Previous methods for learning appearance embedding mostly rely on instance-level matching without considering the temporal continuity provided by videos. We design a new instance-to-track matching objective to learn appearance embedding that compares a candidate detection to the embedding of the tracks persisted in the tracker. It enables us to learn not only from videos labeled with complete tracks, but also unlabeled or partially labeled videos. We implement this learning objec…
Hong Kong University of Science and Technology（香港科技大学）
Self-supervised learning for visual object tracking possesses valuable advantages compared to supervised learning, such as the non-necessity of laborious human annotations and online training. In this work, we exploit an end-to-end Siamese network in a cycle-consistent self-supervised framework for object tracking. Self-supervision can be performed by taking advantage of the cycle consistency in the forward and backward tracking. To better leverage the end-to-end learning of deep networks, we propose to integrate a Siamese region proposal and mask regression network in our tracking framework s…
Deep Learning-based 2D/3D registration enables fast, robust, and accurate X-ray to CT image fusion when large annotated paired datasets are available for training. However, the need for paired CT volume and X-ray images with ground truth registration limits the applicability in interventional scenarios. An alternative is to use simulated X-ray projections from CT volumes, thus removing the need for paired annotated datasets. Deep Neural Networks trained exclusively on simulated X-ray projections can perform significantly worse on real X-ray images due to the domain gap. We propose a self-super…
Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳））；SenseTime Research（商汤科技研究院）；The University of Sydney（悉尼大学）；Peng Cheng Laboratory（鹏城实验室）；Shanghai AI Laboratory（上海人工智能实验室）
Unsupervised learning has been popular in various computer vision tasks, including visual object tracking. However, prior unsupervised tracking approaches rely heavily on spatial supervision from template-search pairs and are still unable to track objects with strong variation over a long time span. As unlimited self-supervision signals can be obtained by tracking a video along a cycle in time, we investigate evolving a Siamese tracker by tracking videos forward-backward. We present a novel unsupervised tracking framework, in which we can learn temporal correspondence both on the classificatio…
Technische Universität München（慕尼黑工业大学）；Johns Hopkins University（约翰斯·霍普金斯大学）
Although the segmentation of brain structures in ultrasound helps initialize image based registration, assist brain shift compensation, and provides interventional decision support, the task of segmenting grey and white matter in cranial ultrasound is very challenging and has not been addressed yet. We train a multi-scale fully convolutional neural network simultaneously for two classes in order to segment real clinical 3D ultrasound data. Parallel pathways working at different levels of resolution account for high frequency speckle noise and global 3D image features. To ensure reproducibility…
Northwestern Polytechnical University（西北工业大学）；Air Force Engineering University（空军工程大学）；wrnch（wrnch公司）；Nanchang University（南昌大学）
The target representation learned by convolutional neural networks plays an important role in Thermal Infrared (TIR) tracking. Currently, most of the top-performing TIR trackers are still employing representations learned by the model trained on the RGB data. However, this representation does not take into account the information in the TIR modality itself, limiting the performance of TIR tracking. To solve this problem, we propose to distill representations of the TIR modality from the RGB modality with Cross-Modal Distillation (CMD) on a large amount of unlabeled paired RGB-TIR data. We take…
University of Bristol（布里斯托大学）；Zhejiang University（浙江大学）
We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The neural implicit mapper is trained on-the-fly, while though the neural tracker is pretrained on the ScanNet dataset, it is also finetuned along with the training of the neural implicit mapper. Under such a design, our iDF-SLAM is capable of learning to use scene-specific features for camera tracking, thus enabling lifelong learning of the SLAM system. Both the training for the tracker and the mapper are self-supervised…
University Hospital of Strasbourg（斯特拉斯堡大学医院）；IRCAD（法国消化外科研究所）；IHU Strasbourg（斯特拉斯堡大学医院研究所）；ICube（斯特拉斯堡计算机与图像科学实验室）；University of Strasbourg（斯特拉斯堡大学）；CNRS（法国国家科学研究中心）
Purpose: Real-time surgical tool tracking is a core component of the future intelligent operating room (OR), because it is highly instrumental to analyze and understand the surgical activities. Current methods for surgical tool tracking in videos need to be trained on data in which the spatial positions of the tools are manually annotated. Generating such training data is difficult and time-consuming. Instead, we propose to use solely binary presence annotations to train a tool tracker for laparoscopic videos. Methods: The proposed approach is composed of a CNN + Convolutional LSTM (ConvLSTM) …
Academy of Military Medical Sciences（军事医学科学院）；National University of Defense Technology（国防科技大学）；University College London（伦敦大学学院）；The Alan Turing Institute（艾伦·图灵研究所）
Online Multi-Object Tracking (MOT) from videos is a challenging computer vision task which has been extensively studied for decades. Most of the existing MOT algorithms are based on the Tracking-by-Detection (TBD) paradigm combined with popular machine learning approaches which largely reduce the human effort to tune algorithm parameters. However, the commonly used supervised learning approaches require the labeled data (e.g., bounding boxes), which is expensive for videos. Also, the TBD framework is usually suboptimal since it is not end-to-end, i.e., it considers the task as detection and tr…
We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself is mostly static, and multiview correspondence labels are relatively cheap to collect in static scenes, e.g., by triangulation. We propose to leverage multiview data of \textit{static points} in arbitrary scenes (static or dynamic), to learn a neural 3D mapping module which produces features that are correspondable across time. The neural 3D mapper consumes…
EasyTrack: Efficient and Compact One-stream 3D Point Clouds Tracker
College of Artificial Intelligence, Nanjing University of Posts and Telecommunications（南京邮电大学人工智能学院）；Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人与智能制造研究院）
Fudan University（复旦大学）；University of Oxford（牛津大学）；West Virginia University（西弗吉尼亚大学）
The objective of this paper is self-supervised representation learning, with the goal of solving semi-supervised video object segmentation (a.k.a. dense tracking). We make the following contributions: (i) we propose to improve the existing self-supervised approach, with a simple, yet more effective memory mechanism for long-term correspondence matching, which resolves the challenge caused by the dis-appearance and reappearance of objects; (ii) by augmenting the self-supervised approach with an online adaptation module, our method successfully alleviates tracker drifts caused by spatial-tempora…
Nonrigid Reconstruction of Freehand Ultrasound without a Tracker
Centre for Medical Image Computing（医学影像计算中心）；Wellcome/EPSRC Centre for Interventional and Surgical Sciences（惠康/工程与物理科学研究理事会介入与外科科学中心）；Department of Medical Physics and Biomedical Engineering（医学物理与生物医学工程系）；University College London（伦敦大学学院）；School of Biomedical Engineering & Imaging Sciences（生物医学工程与影像科学学院）；King’s College London（伦敦国王学院）
Peng Cheng Laboratory（鹏城实验室）；Dalian University of Technology（大连理工大学）；Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；University of California at Merced（加州大学默塞德分校）
While deep-learning based tracking methods have achieved substantial progress, they entail large-scale and high-quality annotated data for sufficient training. To eliminate expensive and exhaustive annotation, we study self-supervised learning for visual tracking. In this work, we develop the Crop-Transform-Paste operation, which is able to synthesize sufficient training data by simulating various appearance variations during tracking, including appearance variations of objects and background interference. Since the target state is known in all synthesized data, existing deep trackers can be t…
The objective of this paper is self-supervised learning of feature embeddings that are suitable for matching correspondences along the videos, which we term correspondence flow. By leveraging the natural spatial-temporal coherence in videos, we propose to train a ``pointer'' that reconstructs a target frame by copying pixels from a reference frame. We make the following contributions: First, we introduce a simple information bottleneck that forces the model to learn robust features for correspondence matching, and prevent it from learning trivial solutions, \eg matching based on low-level colo…
MrTrack: Register Mamba for Needle Tracking with Rapid Reciprocating Motion during Ultrasound-Guided Aspiration Biopsy
Department of Mechanical and Automation Engineering（机械与自动化工程系）；Department of Computer Science and Engineering（计算机科学与工程系）；Department of Medicine and Therapeutics and Institute of Digestive Disease（医学与治疗学系和消化疾病研究所）；The Chinese University of Hong Kong（香港中文大学）
University College London（伦敦大学学院）；University of Oxford（牛津大学）
Spatially aligning medical images from different modalities remains a challenging task, especially for intraoperative applications that require fast and robust algorithms. We propose a weakly-supervised, label-driven formulation for learning 3D voxel correspondence from higher-level label correspondence, thereby bypassing classical intensity-based image similarity measures. During training, a convolutional neural network is optimised by outputting a dense displacement field (DDF) that warps a set of available anatomical labels from the moving image to match their corresponding counterparts in …
Recent machine learning strategies for segmentation tasks have shown great ability when trained on large pixel-wise annotated image datasets. It remains a major challenge however to aggregate such datasets, as the time and monetary cost associated with collecting extensive annotations is extremely high. This is particularly the case for generating precise pixel-wise annotations in video and volumetric image data. To this end, this work presents a novel framework to produce pixel-wise segmentations using minimal supervision. Our method relies on 2D point supervision, whereby a single 2D locatio…
In surveillance and search and rescue applications, it is important to perform multi-target tracking (MOT) in real-time on low-end devices. Today's MOT solutions employ deep neural networks, which tend to have high computation complexity. Recognizing the effects of frame sizes on tracking performance, we propose DeepScale, a model agnostic frame size selection approach that operates on top of existing fully convolutional network-based trackers to accelerate tracking throughput. In the training stage, we incorporate detectability scores into a one-shot tracker architecture so that DeepScale can…
In training object detector based on convolutional neural networks, selection of effective positive examples for training is an important factor. However, when training an anchor-based detectors with sparse annotations on an image, effort to find effective positive examples can hinder training performance. When using the anchor-based training for the ground truth bounding box to collect positive examples under given IoU, it is often possible to include objects from other classes in the current training class, or objects that are needed to be trained can only be sampled as negative examples. We…
Key Laboratory of Machine Perception, Peking University, Shenzhen Graduate School（北京大学深圳研究生院机器感知重点实验室）；Computer Vision Lab, ETH Zurich（苏黎世联邦理工学院计算机视觉实验室）
Multi-modal fusion is proven to be an effective method to improve the accuracy and robustness of speaker tracking, especially in complex scenarios. However, how to combine the heterogeneous information and exploit the complementarity of multi-modal signals remains a challenging issue. In this paper, we propose a novel Multi-modal Perception Tracker (MPT) for speaker tracking using both audio and visual modalities. Specifically, a novel acoustic map based on spatial-temporal Global Coherence Field (stGCF) is first constructed for heterogeneous signal fusion, which employs a camera model to map …
