Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not directly measure the distance to objects. In this paper, we aim at filling this gap by developing a multi-object tracking algorithm that takes an image as input and produces trajectories of detected objects in a world coordinate system. We solve this by using a deep neural network trained to detect and estimate the distance to objects from a single input image. The detections from a sequence of images are fed in to a state-of-the art Poisson multi-Bernoulli mixture tracking filter. The combination of the learned detector and the PMBM filter results in an algorithm that achieves 3D tracking using only mono-camera images as input. The performance of the algorithm is evaluated both in 3D world coordinates, and 2D image coordinates, using the publicly available KITTI object tracking dataset. The algorithm shows the ability to accurately track objects, correctly handle data associations, even when there is a big overlap of the objects in the image, and is one of the top performing algorithms on the KITTI object tracking benchmark. Furthermore, the algorithm is efficient, running on average close to 20 frames per second.

9
下载
关闭预览

相关内容

标跟踪是指:给出目标在跟踪视频第一帧中的初始状态(如位置,尺寸),自动估计目标物体在后续帧中的状态。 目标跟踪分为单目标跟踪和多目标跟踪。 人眼可以比较轻松的在一段时间内跟住某个特定目标。但是对机器而言,这一任务并不简单,尤其是跟踪过程中会出现目标发生剧烈形变、被其他目标遮挡或出现相似物体干扰等等各种复杂的情况。过去几十年以来,目标跟踪的研究取得了长足的发展,尤其是各种机器学习算法被引入以来,目标跟踪算法呈现百花齐放的态势。2013年以来,深度学习方法开始在目标跟踪领域展露头脚,并逐渐在性能上超越传统方法,取得巨大的突破。

知识荟萃

精品入门和进阶教程、论文和代码整理等

更多

查看相关VIP内容、论文、资讯等

3D vehicle detection and tracking from a monocular camera requires detecting and associating vehicles, and estimating their locations and extents together. It is challenging because vehicles are in constant motion and it is practically impossible to recover the 3D positions from a single image. In this paper, we propose a novel framework that jointly detects and tracks 3D vehicle bounding boxes. Our approach leverages 3D pose estimation to learn 2D patch association overtime and uses temporal information from tracking to obtain stable 3D estimation. Our method also leverages 3D box depth ordering and motion to link together the tracks of occluded objects. We train our system on realistic 3D virtual environments, collecting a new diverse, large-scale and densely annotated dataset with accurate 3D trajectory annotations. Our experiments demonstrate that our method benefits from inferring 3D for both data association and tracking robustness, leveraging our dynamic 3D tracking dataset.

0
7
下载
预览

We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based cost functions are commonly optimized using first-order gradient descent techniques, we systematically derive a Gauss-Newton optimization scheme which gives rise to drastically faster convergence and highly accurate and robust tracking performance. We furthermore propose a novel complex dataset dedicated for the task of monocular object pose tracking and make it publicly available to the community. To our knowledge, It is the first to address the common and important scenario in which both the camera as well as the objects are moving simultaneously in cluttered scenes. In numerous experiments - including our own proposed data set - we demonstrate that the proposed Gauss-Newton approach outperforms existing approaches, in particular in the presence of cluttered backgrounds, heterogeneous objects and partial occlusions.

0
4
下载
预览

Model update lies at the heart of object tracking.Generally, model update is formulated as an online learning problem where a target model is learned over the online training dataset. Our key innovation is to \emph{learn the online learning algorithm itself using large number of offline videos}, i.e., \emph{learning to update}. The learned updater takes as input the online training dataset and outputs an updated target model. As a first attempt, we design the learned updater based on recurrent neural networks (RNNs) and demonstrate its application in a template-based tracker and a correlation filter-based tracker. Our learned updater consistently improves the base trackers and runs faster than realtime on GPU while requiring small memory footprint during testing. Experiments on standard benchmarks demonstrate that our learned updater outperforms commonly used update baselines including the efficient exponential moving average (EMA)-based update and the well-designed stochastic gradient descent (SGD)-based update. Equipped with our learned updater, the template-based tracker achieves state-of-the-art performance among realtime trackers on GPU.

0
6
下载
预览

Object tracking is the cornerstone of many visual analytics systems. While considerable progress has been made in this area in recent years, robust, efficient, and accurate tracking in real-world video remains a challenge. In this paper, we present a hybrid tracker that leverages motion information from the compressed video stream and a general-purpose semantic object detector acting on decoded frames to construct a fast and efficient tracking engine suitable for a number of visual analytics applications. The proposed approach is compared with several well-known recent trackers on the OTB tracking dataset. The results indicate advantages of the proposed method in terms of speed and/or accuracy. Another advantage of the proposed method over most existing trackers is its simplicity and deployment efficiency, which stems from the fact that it reuses and re-purposes the resources and information that may already exist in the system for other reasons.

0
10
下载
预览

In order to track all persons in a scene, the tracking-by-detection paradigm has proven to be a very effective approach. Yet, relying solely on a single detector is also a major limitation, as useful image information might be ignored. Consequently, this work demonstrates how to fuse two detectors into a tracking system. To obtain the trajectories, we propose to formulate tracking as a weighted graph labeling problem, resulting in a binary quadratic program. As such problems are NP-hard, the solution can only be approximated. Based on the Frank-Wolfe algorithm, we present a new solver that is crucial to handle such difficult problems. Evaluation on pedestrian tracking is provided for multiple scenarios, showing superior results over single detector tracking and standard QP-solvers. Finally, our tracker ranks 2nd on the MOT16 benchmark and 1st on the new MOT17 benchmark, outperforming over 90 trackers.

0
4
下载
预览

Despite the numerous developments in object tracking, further development of current tracking algorithms is limited by small and mostly saturated datasets. As a matter of fact, data-hungry trackers based on deep-learning currently rely on object detection datasets due to the scarcity of dedicated large-scale tracking datasets. In this work, we present TrackingNet, the first large-scale dataset and benchmark for object tracking in the wild. We provide more than 30K videos with more than 14 million dense bounding box annotations. Our dataset covers a wide selection of object classes in broad and diverse context. By releasing such a large-scale dataset, we expect deep trackers to further improve and generalize. In addition, we introduce a new benchmark composed of 500 novel videos, modeled with a distribution similar to our training dataset. By sequestering the annotation of the test set and providing an online evaluation server, we provide a fair benchmark for future development of object trackers. Deep trackers fine-tuned on a fraction of our dataset improve their performance by up to 1.6% on OTB100 and up to 1.7% on TrackingNet Test. We provide an extensive benchmark on TrackingNet by evaluating more than 20 trackers. Our results suggest that object tracking in the wild is far from being solved.

0
5
下载
预览

In the same vein of discriminative one-shot learning, Siamese networks allow recognizing an object from a single exemplar with the same class label. However, they do not take advantage of the underlying structure of the data and the relationship among the multitude of samples as they only rely on pairs of instances for training. In this paper, we propose a new quadruplet deep network to examine the potential connections among the training instances, aiming to achieve a more powerful representation. We design four shared networks that receive multi-tuple of instances as inputs and are connected by a novel loss function consisting of pair-loss and triplet-loss. According to the similarity metric, we select the most similar and the most dissimilar instances as the positive and negative inputs of triplet loss from each multi-tuple. We show that this scheme improves the training performance. Furthermore, we introduce a new weight layer to automatically select suitable combination weights, which will avoid the conflict between triplet and pair loss leading to worse performance. We evaluate our quadruplet framework by model-free tracking-by-detection of objects from a single initial exemplar in several Visual Object Tracking benchmarks. Our extensive experimental analysis demonstrates that our tracker achieves superior performance with a real-time processing speed of 78 frames-per-second (fps).

0
9
下载
预览

Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects (vehicles), capable of accepting object proposals from different sensor modalities (vision and range) and a variable number of sensors, to produce continuous object tracks. This work is inspired by traditional tracking-by-detection approaches in computer vision, with some key differences - First, we track objects across multiple cameras and across different sensor modalities. This is done by fusing object proposals across sensors accurately and efficiently. Second, the objects of interest (targets) are tracked directly in the real world. This is a departure from traditional techniques where objects are simply tracked in the image plane. Doing so allows the tracks to be readily used by an autonomous agent for navigation and related tasks. To verify the effectiveness of our approach, we test it on real world highway data collected from a heavily sensorized testbed capable of capturing full-surround information. We demonstrate that our framework is well-suited to track objects through entire maneuvers around the ego-vehicle, some of which take more than a few minutes to complete. We also leverage the modularity of our approach by comparing the effects of including/excluding different sensors, changing the total number of sensors, and the quality of object proposals on the final tracking result.

0
6
下载
预览

In this work, we present a method for tracking and learning the dynamics of all objects in a large scale robot environment. A mobile robot patrols the environment and visits the different locations one by one. Movable objects are discovered by change detection, and tracked throughout the robot deployment. For tracking, we extend the Rao-Blackwellized particle filter of previous work with birth and death processes, enabling the method to handle an arbitrary number of objects. Target births and associations are sampled using Gibbs sampling. The parameters of the system are then learnt using the Expectation Maximization algorithm in an unsupervised fashion. The system therefore enables learning of the dynamics of one particular environment, and of its objects. The algorithm is evaluated on data collected autonomously by a mobile robot in an office environment during a real-world deployment. We show that the algorithm automatically identifies and tracks the moving objects within 3D maps and infers plausible dynamics models, significantly decreasing the modeling bias of our previous work. The proposed method represents an improvement over previous methods for environment dynamics learning as it allows for learning of fine grained processes.

0
6
下载
预览

Computer vision technologies are very attractive for practical applications running on embedded systems. For such an application, it is desirable for the deployed algorithms to run in high-speed and require no offline training. To develop a single-target tracking algorithm with these properties, we propose an ensemble of the kernelized correlation filters (KCF), we call it EnKCF. A committee of KCFs is specifically designed to address the variations in scale and translation of moving objects. To guarantee a high-speed run-time performance, we deploy each of KCFs in turn, instead of applying multiple KCFs to each frame. To minimize any potential drifts between individual KCFs transition, we developed a particle filter. Experimental results showed that the performance of ours is, on average, 70.10% for precision at 20 pixels, 53.00% for success rate for the OTB100 data, and 54.50% and 40.2% for the UAV123 data. Experimental results showed that our method is better than other high-speed trackers over 5% on precision on 20 pixels and 10-20% on AUC on average. Moreover, our implementation ran at 340 fps for the OTB100 and at 416 fps for the UAV123 dataset that is faster than DCF (292 fps) for the OTB100 and KCF (292 fps) for the UAV123. To increase flexibility of the proposed EnKCF running on various platforms, we also explored different levels of deep convolutional features.

0
6
下载
预览
小贴士
相关论文
Joint Monocular 3D Vehicle Detection and Tracking
Hou-Ning Hu,Qi-Zhi Cai,Dequan Wang,Ji Lin,Min Sun,Philipp Krähenbühl,Trevor Darrell,Fisher Yu
7+阅读 · 2018年12月2日
A Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking
Henning Tjaden,Ulrich Schwanecke,Elmar Schömer,Daniel Cremers
4+阅读 · 2018年7月5日
Bi Li,Wenxuan Xie,Wenjun Zeng,Wenyu Liu
6+阅读 · 2018年6月19日
Saeed Ranjbar Alvar,Ivan V. Bajić
10+阅读 · 2018年4月30日
Roberto Henschel,Laura Leal-Taixé,Daniel Cremers,Bodo Rosenhahn
4+阅读 · 2018年4月24日
Matthias Müller,Adel Bibi,Silvio Giancola,Salman Al-Subaihi,Bernard Ghanem
5+阅读 · 2018年3月28日
Xingping Dong,Jianbing Shen,Yu Liu,Wenguan Wang,Fatih Porikli
9+阅读 · 2018年3月17日
Nils Bore,Patric Jensfelt,John Folkesson
6+阅读 · 2018年1月28日
Burak Uzkent,YoungWoo Seo
6+阅读 · 2018年1月20日
相关VIP内容
专知会员服务
61+阅读 · 2020年4月24日
Top