SMSTracker:A Self-Calibration Multi-Head Self-Attention Transformer for Visual Object Tracking

Visual object tracking plays a crucial role in computer vision.In recent years,researchers have proposed various methods to achieve high-performance object tracking.Among these,methods based on Transformers have become a research hotspot due to their ability to globally model and contextualize information.However,current Transformer-based object tracking methods still face challenges such as low tracking accuracy and the presence of redundant feature information.In this paper,we introduce self-calibration multi-head self-attention Transformer(SMSTracker)as a solution to these challenges.It employs a hybrid tensor decomposition self-organizing multihead self-attention transformermechanism,which not only compresses and accelerates Transformer operations but also significantly reduces redundant data,thereby enhancing the accuracy and efficiency of tracking.Additionally,we introduce a self-calibration attention fusion block to resolve common issues of attention ambiguities and inconsistencies found in traditional trackingmethods,ensuring the stability and reliability of tracking performance across various scenarios.By integrating a hybrid tensor decomposition approach with a self-organizingmulti-head self-attentive transformer mechanism,SMSTracker enhances the efficiency and accuracy of the tracking process.Experimental results show that SMSTracker achieves competitive performance in visual object tracking,promising more robust and efficient tracking systems,demonstrating its potential to providemore robust and efficient tracking solutions in real-world applications.

Masked Autoencoders as Single Object Tracking Learners

Significant advancements have beenwitnessed in visual tracking applications leveragingViT in recent years,mainly due to the formidablemodeling capabilities of Vision Transformer(ViT).However,the strong performance of such trackers heavily relies on ViT models pretrained for long periods,limitingmore flexible model designs for tracking tasks.To address this issue,we propose an efficient unsupervised ViT pretraining method for the tracking task based on masked autoencoders,called TrackMAE.During pretraining,we employ two shared-parameter ViTs,serving as the appearance encoder and motion encoder,respectively.The appearance encoder encodes randomly masked image data,while the motion encoder encodes randomly masked pairs of video frames.Subsequently,an appearance decoder and a motion decoder separately reconstruct the original image data and video frame data at the pixel level.In this way,ViT learns to understand both the appearance of images and the motion between video frames simultaneously.Experimental results demonstrate that ViT-Base and ViT-Large models,pretrained with TrackMAE and combined with a simple tracking head,achieve state-of-the-art(SOTA)performance without additional design.Moreover,compared to the currently popular MAE pretraining methods,TrackMAE consumes only 1/5 of the training time,which will facilitate the customization of diverse models for tracking.For instance,we additionally customize a lightweight ViT-XS,which achieves SOTA efficient tracking performance.

Multiple-Object Tracking Using Histogram Stamp Extraction in CCTV Environments

Object tracking,an important technology in the field of image processing and computer vision,is used to continuously track a specific object or person in an image.This technology may be effective in identifying the same person within one image,but it has limitations in handling multiple images owing to the difficulty in identifying whether the object appearing in other images is the same.When tracking the same object using two or more images,there must be a way to determine that objects existing in different images are the same object.Therefore,this paper attempts to determine the same object present in different images using color information among the unique information of the object.Thus,this study proposes a multiple-object-tracking method using histogram stamp extraction in closed-circuit television applications.The proposed method determines the presence or absence of a target object in an image by comparing the similarity between the image containing the target object and other images.To this end,a unique color value of the target object is extracted based on its color distribution in the image using three methods:mean,mode,and interquartile range.The Top-N accuracy method is used to analyze the accuracy of each method,and the results show that the mean method had an accuracy of 93.5%(Top-2).Furthermore,the positive prediction value experimental results show that the accuracy of the mean method was 65.7%.As a result of the analysis,it is possible to detect and track the same object present in different images using the unique color of the object.Through the results,it is possible to track the same object that can minimize manpower without using personal information when detecting objects in different images.In the last response speed experiment,it was shown that when the mean was used,the color extraction of the object was possible in real time with 0.016954 s.Through this,it is possible to detect and track the same object in real time when using the proposed method.

Up-Sampled Cross-Correlation Based Object Tracking & Vibration Measurement in Agriculture Tractor System

This research introduces a challenge in integrating and cleaning the data,which is a crucial task in object matching.While the object is detected and then measured,the vibration at different light intensities may influence the durability and reliability of mechanical systems or structures and cause problems such as damage,abnormal stopping,and disaster.Recent research failed to improve the accuracy rate and the computation time in tracking an object and in the vibration measurement.To solve all these problems,this proposed research simplifies the scaling factor determination by assigning a known real-world dimension to a predetermined portion of the image.A novel white color sticker of the known dimensions marked with a color dot is pasted on the surface of an object for the best result in the template matching using the Improved Up-Sampled Cross-Correlation(UCC)algorithm.The vibration measurement is calculated using the Finite-Difference Algorithm(FDA),a machine vision systemfitted with a macro lens sensor that is capable of capturing the image at a closer range,which does not affect the quality of displacement measurement from the video frames.Thefield test was conducted on the TAFE(Tractors and Farm Equipment Limited)tractor parts,and the percentage of error was recorded between 30%and 50%at very low vibration values close to zero,whereas it was recorded between 5%and 10%error in most high-accelerations,the essential range for vibration analysis.Finally,the suggested system is more suitable for measuring the vibration of stationary machinery having low frequency ranges.The use of a macro lens enables to capture of image frames at very close-ups.A 30%to 50%error percentage has been reported when the vibration amplitude is very small.Therefore,this study is not suitable for Nano vibration analysis.

Visual Object Tracking Based on Modified LeNet-5 and RCCF

The field of object tracking has recently made significant progress.Particularly,the performance results in both deep learning and correlation filters,based trackers achieved effective tracking performance.Moreover,there are still some difficulties with object tracking for example illumination and deformation(DEF).The precision and accuracy of tracking algorithms suffer from the effects of such occurrences.For this situation,finding a solution is important.This research proposes a new tracking algorithm to handle this problem.The features are extracted by using Modified LeNet-5,and the precision and accuracy are improved by developing the Real-Time Cross-modality Correlation Filtering method(RCCF).In Modified LeNet-5,the visual tracking performance is improved by adjusting the number and size of the convolution kernels in the pooling and convolution layers.The high-level,middle-level,and handcraft features are extracted from the modified LeNet-5 network.The handcraft features are used to determine the specific location of the target because the handcraft features contain more spatial information regarding the visual object.The LeNet features are more suitable for a target appearance change in object tracking.Extensive experiments were conducted by the Object Tracking Benchmarking(OTB)databases like OTB50 and OTB100.The experimental results reveal that the proposed tracker outperforms other state-of-the-art trackers under different problems.The experimental simulation is carried out in python.The overall success rate and precision of the proposed algorithm are 93.8%and 92.5%.The average running frame rate reaches 42 frames per second,which can meet the real-time requirements.

Object Tracking Algorithm Based on Multi-Time-Space Perception and Instance-Specific Proposals

Aiming at the problem that a single correlation filter model is sensitive to complex scenes such as background interference and occlusion,a tracking algorithm based on multi-time-space perception and instance-specific proposals is proposed to optimize the mathematical model of the correlation filter(CF).Firstly,according to the consistency of the changes between the object frames and the filter frames,the mask matrix is introduced into the objective function of the filter,so as to extract the spatio-temporal information of the object with background awareness.Secondly,the object function of multi-feature fusion is constructed for the object location,which is optimized by the Lagrange method and solved by closed iteration.In the process of filter optimization,the constraints term of time-space perception is designed to enhance the learning ability of the CF to optimize the final track-ing results.Finally,when the tracking results fluctuate,the boundary suppres-sion factor is introduced into the instance-specific proposals to reduce the risk of model drift effectively.The accuracy and success rate of the proposed algorithm are verified by simulation analysis on two popular benchmarks,the object tracking benchmark 2015(OTB2015)and the temple color 128(TC-128).Extensive experimental results illustrate that the optimized appearance model of the proposed algorithm is effective.The distance precision rate and overlap success rate of the proposed algorithm are 0.756 and 0.656 on the OTB2015 benchmark,which are better than the results of other competing algorithms.The results of this study can solve the problem of real-time object tracking in the real traffic environment and provide a specific reference for the detection of traffic abnormalities.

Multiple Object Tracking through Background Learning

This paper discusses about the new approach of multiple object track-ing relative to background information.The concept of multiple object tracking through background learning is based upon the theory of relativity,that involves a frame of reference in spatial domain to localize and/or track any object.Thefield of multiple object tracking has seen a lot of research,but researchers have considered the background as redundant.However,in object tracking,the back-ground plays a vital role and leads to definite improvement in the overall process of tracking.In the present work an algorithm is proposed for the multiple object tracking through background learning.The learning framework is based on graph embedding approach for localizing multiple objects.The graph utilizes the inher-ent capabilities of depth modelling that assist in prior to track occlusion avoidance among multiple objects.The proposed algorithm has been compared with the recent work available in literature on numerous performance evaluation measures.It is observed that our proposed algorithm gives better performance.

Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor:System,Algorithms,and Experiments

There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging problems.In this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose estimation.In order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing module.In particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely manner.Furthermore,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive techniques.Stable and accurate object tracking is achieved even under disturbances.Experimental results are presented to demonstrate the high accuracy and stability of the whole tracking system.

A Visual Attention Model for Robot Object Tracking

Inspired by human behaviors, a robot object tracking model is proposed on the basis of visual attention mechanism, which is fit for the theory of topological perception. The model integrates the image-driven, bottom-up attention and the object-driven, top-down attention, whereas the previous attention model has mostly focused on either the bottom-up or top-down attention. By the bottom-up component, the whole scene is segmented into the ground region and the salient regions. Guided by top-down strategy which is achieved by a topological graph, the object regions are separated from the salient regions. The salient regions except the object regions are the barrier regions. In order to estimate the model, a mobile robot platform is developed, on which some experiments are implemented. The experimental results indicate that processing an image with a resolution of 752 × 480 pixels takes less than 200 ms and the object regions are unabridged. The analysis obtained by comparing the proposed model with the existing model demonstrates that the proposed model has some advantages in robot object tracking in terms of speed and efficiency.

Review on Video Object Tracking Based on Deep Learning

Video object tracking is an important research topic of computer vision, whichfinds a wide range of applications in video surveillance, robotics, human-computerinteraction and so on. Although many moving object tracking algorithms have beenproposed, there are still many difficulties in the actual tracking process, such asillumination change, occlusion, motion blurring, scale change, self-change and so on.Therefore, the development of object tracking technology is still challenging. Theemergence of deep learning theory and method provides a new opportunity for theresearch of object tracking, and it is also the main theoretical framework for the researchof moving object tracking algorithm in this paper. In this paper, the existing deeptracking-based target tracking algorithms are classified and sorted out. Based on theprevious knowledge and my own understanding, several solutions are proposed for theexisting methods. In addition, the existing deep learning target tracking method is stilldifficult to meet the requirements of real-time, how to design the network and trackingprocess to achieve speed and effect improvement, there is still a lot of research space.

Multi Object Tracking Using Gradient-Based Learning Model in Video-Surveillance

On accomplishing an efficacious object tracking,the activity of an object concerned becomes notified in a forthright manner.An accurate form of object tracking task necessitates a robust object tracking procedures irrespective of hardware assistance.Such approaches inferred a vast computational complexity to track an object with high accuracy in a stipulated amount of processing time.On the other hand,the tracking gets affected owing to the existence of varied quality diminishing factors such as occlusion,illumination changes,shadows etc.,In order to rectify all these inadequacies in tracking an object,a novel background normalization procedure articulated on the basis of a textural pattern is proposed in this paper.After preprocessing an acquired image,employment of an Environmental Succession Prediction algorithm for discriminating disparate background environment by background clustering approach have been accomplished.Afterward,abstract textural characterizations through utilization of a Probability based Gradient Pattern(PGP)approach for recognizing the similarity between patterns obtained so far.Comparison between standardized frame obtained in prior and those processed patterns detects the motion exposed by an object and the object concerned gets identified within a blob.Hence,the system is resistant towards illumination variations.These illumination variation was interpreted in object tracking residing within a dynamic background.Devised approach certainly outperforms other object tracking methodologies like Group Target Tracking(GTT),Vi PER-GT,grabcut,snakes in terms of accuracy and average time.Proposed PGP-based pattern texture analysis is compared with Gamifying Video Object(GVO)approach and hence,it evidently outperforms in terms of precision,recall and F1 measure.

Object Tracking Using a Particle Filter with SURF Feature

In this paper, a novel object tracking based on a particle filter and speeded up robust feature （SURF） is proposed, which uses both color and SURF features. The SURF feature makes the tracking result more robust. On the other hand, the particle selection can lead to save time. In addition, we also consider the matched particle applicable to calculating the SURF weight. Owing to the color, spatial, and SURF features being adopted, this method is more robust than the traditional color-based appearance model. Experimental results demonstrate the robustness and accurate tracking results with challenging sequences. Besides, the proposed method outperforms other methods during the intersection of similar color and object＇s partial occlusion.

Particle Filter Object Tracking Algorithm Based on Sparse Representation and Nonlinear Resampling

Object tracking with abrupt motion is an important research topic and has attracted wide attention.To obtain accurate tracking results,an improved particle filter tracking algorithm based on sparse representation and nonlinear resampling is proposed in this paper. First,the sparse representation is used to compute particle weights by considering the fact that the weights are sparse when the object moves abruptly,so the potential object region can be predicted more precisely. Then,a nonlinear resampling process is proposed by utilizing the nonlinear sorting strategy,which can solve the problem of particle diversity impoverishment caused by traditional resampling methods. Experimental results based on videos containing objects with various abrupt motions have demonstrated the effectiveness of the proposed algorithm.

BACKGROUND RECONSTRUCTION AND OBJECT EXTRACTION BASED ON COLOR AND OBJECT TRACKING

In YCbCr colorspace, a method is proposed to reconstruct the background and extract moving objects based on the Gaussian model of chroma components. Background model is updated according to changes of chroma components. In order to eliminate the disturbance of shadow, a shadow detecting principle is proposed in YCbCr colorspace. A Kalman filter is introduced to estimate objects＇ positions in the image and then the pedestrian is tracked according to its information of shape. Experiments show that the background reconstruction and updating are successful, object extraction and shadow suppression are satisfactory, and real-time and reliable tracking is realized.

Visual Object Tracking via Cascaded RPN Fusion and Coordinate Attention

Recently,Siamese-based trackers have achieved excellent performance in object tracking.However,the high speed and deformation of objects in the movement process make tracking difficult.Therefore,we have incorporated cascaded region-proposal-network(RPN)fusion and coordinate attention into Siamese trackers.The proposed network framework consists of three parts:a feature-extraction sub-network,coordinate attention block,and cascaded RPN block.We exploit the coordinate attention block,which can embed location information into channel attention,to establish long-term spatial location dependence while maintaining channel associations.Thus,the features of different layers are enhanced by the coordinate attention block.We then send these features separately into the cascaded RPN for classification and regression.According to the two classification and regression results,the final position of the target is obtained.To verify the effectiveness of the proposed method,we conducted comprehensive experiments on the OTB100,VOT2016,UAV123,and GOT-10k datasets.Compared with other state-of-the-art trackers,the proposed tracker achieved good performance and can run at real-time speed.

Enhancing the Robustness of Visual Object Tracking via Style Transfer

The performance and accuracy of computer vision systems are affected by noise in different forms.Although numerous solutions and algorithms have been presented for dealing with every type of noise,a comprehensive technique that can cover all the diverse noises and mitigate their damaging effects on the performance and precision of various systems is still missing.In this paper,we have focused on the stability and robustness of one computer vision branch(i.e.,visual object tracking).We have demonstrated that,without imposing a heavy computational load on a model or changing its algorithms,the drop in the performance and accuracy of a system when it is exposed to an unseen noise-laden test dataset can be prevented by simply applying the style transfer technique on the train dataset and training the model with a combination of these and the original untrained data.To verify our proposed approach,it is applied on a generic object tracker by using regression networks.This method’s validity is confirmed by testing it on an exclusive benchmark comprising 50 image sequences,with each sequence containing 15 types of noise at five different intensity levels.The OPE curves obtained show a 40%increase in the robustness of the proposed object tracker against noise,compared to the other trackers considered.

Object Tracking-Based “Follow-Me” Unmanned Aerial Vehicle (UAV) System

The applications of information technology (IT) tools and techniqueshave, over the years, simplified complex problem solving procedures. But thepower of automation is inhibited by the technicality in manning advanced equipment. To this end, tools deliberately combating this inhibition and advancing technological growth are the Unmanned Aerial Vehicles (UAVs). UAVs are rapidlytaking over major industries such as logistics, security, and cinematography.Among others, this is a very efficient way of carrying out missions unconventional to humans. An application area of this technology is the local film industrywhich is not producing quality movies primarily due to the lack of technicalknow-how in utilizing these systems. This study therefore aim to devise an autonomous object tracking UAV system that would eliminate the complex procedureinvolved in stabilizing an aerial camera (aerial bot) midair and promote the creation of quality aerial video shooting. The study adopted Unified Modeling Language (UML) tools in modeling the system’s functionality. The traditionalServer-Client model architecture was adopted. The OpenCV library employedproved highly efficient in aiding the tracking procedure. The system provided ausable web controller which provides easy interaction between the pilot and thedrone. Conclusively, investments in UAVs would enhance creation of quality graphic contents.

Towards Collaborative Robotics in Top View Surveillance:A Framework for Multiple Object Tracking by Detection Using Deep Learning

Collaborative Robotics is one of the high-interest research topics in the area of academia and industry.It has been progressively utilized in numerous applications,particularly in intelligent surveillance systems.It allows the deployment of smart cameras or optical sensors with computer vision techniques,which may serve in several object detection and tracking tasks.These tasks have been considered challenging and high-level perceptual problems,frequently dominated by relative information about the environment,where main concerns such as occlusion,illumination,background,object deformation,and object class variations are commonplace.In order to show the importance of top view surveillance,a collaborative robotics framework has been presented.It can assist in the detection and tracking of multiple objects in top view surveillance.The framework consists of a smart robotic camera embedded with the visual processing unit.The existing pre-trained deep learning models named SSD and YOLO has been adopted for object detection and localization.The detection models are further combined with different tracking algorithms,including GOTURN,MEDIANFLOW,TLD,KCF,MIL,and BOOSTING.These algorithms,along with detection models,help to track and predict the trajectories of detected objects.The pre-trained models are employed;therefore,the generalization performance is also investigated through testing the models on various sequences of top view data set.The detection models achieved maximum True Detection Rate 93%to 90%with a maximum 0.6%False Detection Rate.The tracking results of different algorithms are nearly identical,with tracking accuracy ranging from 90%to 94%.Furthermore,a discussion has been carried out on output results along with future guidelines.

Anti-Occlusion Object Tracking Algorithm Based on Filter Prediction

Visual object tracking is an important issue that has received long-term attention in computer vision.The ability to effectively handle occlusion,especially severe occlusion,is an important aspect of evaluating the performance of object tracking algorithms in long-term tracking,and is of great significance to improving the robustness of object tracking algorithms.However,most object tracking algorithms lack a processing mechanism specifically for occlusion.In the case of occlusion,due to the lack of target information,it is necessary to predict the target position based on the motion trajectory.Kalman filtering and particle filtering can effectively predict the target motion state based on the historical motion information.A single object tracking method,called probabilistic discriminative model prediction(PrDiMP),is based on the spatial attention mechanism in complex scenes and occlusions.In order to improve the performance of PrDiMP,Kalman filtering,particle filtering and linear filtering are introduced.First,for the occlusion situation,Kalman filtering and particle filtering are respectively introduced to predict the object position,thereby replacing the detection result of the original tracking algorithm and stopping recursion of target model.Second,for detection-jump problem of similar objects in complex scenes,a linear filtering window is added.The evaluation results on the three datasets,including GOT-10k,UAV123 and LaSOT,and the visualization results on several videos,show that our algorithms have improved tracking performance under occlusion and the detection-jump is effectively suppressed.

Novel multiple object tracking method for yellow feather broilers in a flat breeding chamber based on improved YOLOv3 and deep SORT

Aiming at the difficulties of the health status recognition of yellow feather broilers in large-scale broiler farms and the low recognition rate of current models,a novel method based on machine vision to achieve precise tracking of multiple broilers was proposed in this paper.Broilers’behavior in the breeding environment can be tracked to analyze their behaviors and health status further.An improved YOLOv3(You Only Look Once v3)algorithm was used as the detector of the Deep SORT(Simple Online and Realtime Tracking)algorithm to realize the multiple object tracking of yellow feather broilers in the flat breeding chamber,which replaced the backbone of YOLOv3 with MobileNetV2 to improve the inference speed of the detection module.The DRSN(Deep Residual Shrinkage Network)was integrated with MobileNetV2 to enhance the feature extraction capability of the network.Moreover,in view of the slight change in the individual size of the yellow feather broiler,the feature fusion network was also redesigned by combining it with the attention mechanism to enable the adaptive learning of the objects’multi-scale features.Compared with traditional YOLOv3,improved YOLOv3 achieves 93.2%mAP(mean Average Precision)and 29 fps(frames per second),representing high-precision real-time detection performance.Furthermore,while the MOTA(Multiple Object Tracking Accuracy)increases from 51%to 54%,the IDSW(Identity Switch)decreases by 62.2%compared with traditional YOLOv3-based objective detectors.The proposed algorithm can provide a technical reference for analyzing the behavioral perception and health status of broilers in the flat breeding environment.