Real-time manifold regularized context-aware correlation tracking

Despite the demonstrated success of numerous correlation filter(CF)based tracking approaches,their assumption of circulant structure of samples introduces significant redundancy to learn an effective classifier.In this paper,we develop a fast manifold regularized context-aware correlation tracking algorithm that mines the local manifold structure information of different types of samples.First,different from the traditional CF based tracking that only uses one base sample,we employ a set of contextual samples near to the base sample,and impose a manifold structure assumption on them.Afterwards,to take into account the manifold structure among these samples,we introduce a linear graph Laplacian regularized term into the objective of CF learning.Fortunately,the optimization can be efficiently solved in a closed form with fast Fourier transforms(FFTs),which contributes to a highly efficient implementation.Extensive evaluations on the OTB100 and VOT2016 datasets demonstrate that the proposed tracker performs favorably against several state-of-the-art algorithms in terms of accuracy and robustness.Especially,our tracker is able to run in real-time with 28 fps on a single CPU.

3D Single Object Tracking with Multi-View Unsupervised Center Uncertainty Learning

Center point localization is a major factor affecting the performance of 3D single object tracking.Point clouds themselves are a set of discrete points on the local surface of an object,and there is also a lot of noise in the labeling.Therefore,directly regressing the center coordinates is not very reasonable.Existing methods usually use volumetric-based,point-based,and view-based methods,with a relatively single modality.In addition,the sampling strategies commonly used usually result in the loss of object information,and holistic and detailed information is beneficial for object localization.To address these challenges,we propose a novel Multi-view unsupervised center Uncertainty 3D single object Tracker(MUT).MUT models the potential uncertainty of center coordinates localization using an unsupervised manner,allowing the model to learn the true distribution.By projecting point clouds,MUT can obtain multi-view depth map features,realize efficient knowledge transfer from 2D to 3D,and provide another modality information for the tracker.We also propose a former attraction probability sampling strategy that preserves object information.By using both holistic and detailed descriptors of point clouds,the tracker can have a more comprehensive understanding of the tracking environment.Experimental results show that the proposed MUT network outperforms the baseline models on the KITTI dataset by 0.8%and 0.6%in precision and success rate,respectively,and on the NuScenes dataset by 1.4%,and 6.1%in precision and success rate,respectively.The code is made available at https://github.com/abchears/MUT.git.