This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing tracking performance, where changing the detector can improve tracking by up to 18.9%. Despite only using a rudimentary combination of familiar techniques such as the Kalman Filter and Hungarian algorithm for the tracking components, this approach achieves an accuracy comparable to state-of-the-art online trackers. Furthermore, due to the simplicity of our tracking method, the tracker updates at a rate of 260 Hz which is over 20x faster than other state-of-the-art trackers.

Simple online and realtime tracking

Simple Online and Realtime Tracking

Optimum experimental designs

pdf/deep-learning-in-video-multi-object-tracking-a-survey-239v7tfflr.pdf

Deep learning in video multi-object tracking: A survey

The majority of existing solutions to the Multi-Target Tracking (MTT) problem do not combine cues over a long period of time in a coherent fashion. In this paper, we present an online method that encodes long-term temporal dependencies across multiple cues. One key challenge of tracking methods is to accurately track occluded targets or those which share similar appearance properties with surrounding objects. To address this challenge, we present a structure of Recurrent Neural Networks (RNN) that jointly reasons on multiple cues over a temporal window. Our method allows to correct data association errors and recover observations from occluded states. We demonstrate the robustness of our data-driven approach by tracking multiple targets using their appearance, motion, and even interactions. Our method outperforms previous works on multiple publicly available datasets including the challenging MOT benchmark.

Tracking the Untrackable: Learning to Track Multiple Cues with Long-Term Dependencies

Global optimization algorithms have shown impressive performance in data-association based multi-object tracking, but handling online data remains a difficult hurdle to overcome. In this paper, we present a hybrid data association framework with a min-cost multi-commodity network flow for robust online multi-object tracking. We build local target-specific models interleaved with global optimization of the optimal data association over multiple video frames. More specifically, in the min-cost multi-commodity network flow, the target-specific similarities are online learned to enforce the local consistency for reducing the complexity of the global data association. Meanwhile, the global data association taking multiple video frames into account alleviates irrecoverable errors caused by the local data association between adjacent frames. To ensure the efficiency of online tracking, we give an efficient near-optimal solution to the proposed min-cost multi-commodity flow problem, and provide the empirical proof of its sub-optimality. The comprehensive experiments on real data demonstrate the superior tracking performance of our approach in various challenging situations.

A Hybrid Data Association Framework for Robust Online Multi-Object Tracking

Appearance modeling is a key issue for the success of a visual tracker. Sparse representation based appearance modeling has received an increasing amount of interest in recent years. However, most of existing work utilizes reconstruction errors to compute the observation likelihood under the generative framework, which may give poor performance, especially for significant appearance variations. In this paper, we advocate an approach to visual tracking that seeks an appropriate metric in the feature space of sparse codes and propose a metric learning based structural appearance model for more accurate matching of different appearances. This structural representation is acquired by performing multiscale max pooling on the weighted local sparse codes of image patches. An online multiple instance metric learning algorithm is proposed that learns a discriminative and adaptive metric, thereby better distinguishing the visual object of interest from the background. The multiple instance setting is able to alleviate the drift problem potentially caused by misaligned training examples. Tracking is then carried out within a Bayesian inference framework, in which the learned metric and the structure object representation are used to construct the observation model. Comprehensive experiments on challenging image sequences demonstrate qualitatively and quantitatively that the proposed algorithm outperforms the state-of-the-art methods.

Metric Learning Based Structural Appearance Model for Robust Visual Tracking

The appearance of an object could be continuously changing during tracking, thereby being not independent identically distributed. A good discriminative tracker often needs a large number of training samples to fit the underlying data distribution, which is impractical for visual tracking. In this paper, we present a new discriminative tracker via landmark-based label propagation (LLP) that is nonparametric and makes no specific assumption about the sample distribution. With an undirected graph representation of samples, the LLP locally approximates the soft label of each sample by a linear combination of labels on its nearby landmarks. It is able to effectively propagate a limited amount of initial labels to a large amount of unlabeled samples. To this end, we introduce a local landmarks approximation method to compute the cross-similarity matrix between the whole data and landmarks. Moreover, a soft label prediction function incorporating the graph Laplacian regularizer is used to diffuse the known labels to all the unlabeled vertices in the graph, which explicitly considers the local geometrical structure of all samples. Tracking is then carried out within a Bayesian inference framework, where the soft label prediction value is used to construct the observation model. Both qualitative and quantitative evaluations on the benchmark data set containing 51 challenging image sequences demonstrate that the proposed algorithm outperforms the state-of-the-art methods.

Robust Discriminative Tracking via Landmark-Based Label Propagation

Global optimization algorithms have shown impressive performance in data-association-based multi-object tracking, but handling online data remains a difficult hurdle to overcome. In this paper, we present a hybrid data association framework with a min-cost multi-commodity network flow for robust online multi-object tracking. We build local target-specific models interleaved with global optimization of the optimal data association over multiple video frames. More specifically, in the min-cost multi-commodity network flow, the target-specific similarities are online learned to enforce the local consistency for reducing the complexity of the global data association. Meanwhile, the global data association taking multiple video frames into account alleviates irrecoverable errors caused by the local data association between adjacent frames. To ensure the efficiency of online tracking, we give an efficient near-optimal solution to the proposed min-cost multi-commodity flow problem, and provide the empirical proof of its sub-optimality. The comprehensive experiments on real data demonstrate the superior tracking performance of our approach in various challenging situations.

The main challenge of robust object tracking comes from the difficulty in designing an adaptive appearance model that is able to accommodate appearance variations. Existing tracking algorithms often perform self-updating of the appearance model with examples from recent tracking results to account for appearance changes. However, slight inaccuracy of tracking results can degrade the appearance model. In this paper, we propose a robust tracking method by evaluating an online structural appearance model based on local sparse coding and online metric learning. Our appearance model employs pooling of structural features over the local sparse codes of an object region to obtain a middle-level object representation. Tracking is then formulated by seeking for the most similar candidate within a Bayesian inference framework where the distance metric for similarity measurement is learned in an online manner to match the varying object appearance. Both qualitative and quantitative evaluations on various challenging image sequences demonstrate that the proposed algorithm outperforms the state-of-the-art methods.

Learning online structural appearance model for robust object tracking

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Papers

A Hybrid Data Association Framework for Robust Online Multi-Object Tracking

Metric Learning Based Structural Appearance Model for Robust Visual Tracking

Robust Discriminative Tracking via Landmark-Based Label Propagation

A Hybrid Data Association Framework for Robust Online Multi-Object Tracking

Learning online structural appearance model for robust object tracking