A Distributed Particle Filter Applied in Single Object Tracking

Visual object-tracking is a fundamental task applied in many applications of computer vision. Particle filter is one of the techniques which has been widely used in object tracking. Due to the virtue of extendability and flexibility on both linear and non-linear environments, various particle filter-based trackers have been proposed in the literature. However, the conventional approach cannot handle very large videos efficiently in the current data intensive information age. In this work, a parallelized particle filter is provided in a distributed framework provided by the Hadoop/Map-Reduce infrastructure to tackle object-tracking tasks. The experiments indicate that the proposed algorithm has a better convergence and accuracy as compared to the traditional particle filter. The computational power and the scalability of the proposed particle filter in single object tracking have been enhanced as well.

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.

SiamDLA: Dynamic Label Assignment for Siamese Visual Tracking

Label assignment refers to determining positive/negative labels foreach sample to supervise the training process. Existing Siamese-based trackersprimarily use fixed label assignment strategies according to human priorknowledge;thus, they can be sensitive to predefined hyperparameters and failto fit the spatial and scale variations of samples. In this study, we first developa novel dynamic label assignment (DLA) module to handle the diverse datadistributions and adaptively distinguish the foreground from the backgroundbased on the statistical characteristics of the target in visual object tracking.The core of DLA module is a two-step selection mechanism. The first stepselects candidate samples according to the Euclidean distance between trainingsamples and ground truth, and the second step selects positive/negativesamples based on the mean and standard deviation of candidate samples.The proposed approach is general-purpose and can be easily integrated intoanchor-based and anchor-free trackers for optimal sample-label matching.According to extensive experimental findings, Siamese-based trackers withDLA modules can refine target locations and outperformbaseline trackers onOTB100, VOT2019, UAV123 and LaSOT. Particularly, DLA-SiamRPN++improves SiamRPN++ by 1% AUC and DLA-SiamCAR improves Siam-CAR by 2.5% AUC on OTB100. Furthermore, hyper-parameters analysisexperiments show that DLA module hardly increases spatio-temporal complexity,the proposed approach maintains the same speed as the originaltracker without additional overhead.

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.

A Real-Time Multi-Vehicle Tracking Framework in Intelligent Vehicular Networks

In this paper,we provide a new approach for intelligent traffic transportation in the intelligent vehicular networks,which aims at collecting the vehicles’locations,trajectories and other key driving parameters for the time-critical autonomous driving’s requirement.The key of our method is a multi-vehicle tracking framework in the traffic monitoring scenario..Our proposed framework is composed of three modules:multi-vehicle detection,multi-vehicle association and miss-detected vehicle tracking.For the first module,we integrate self-attention mechanism into detector of using key point estimation for better detection effect.For the second module,we apply the multi-dimensional information for robustness promotion,including vehicle re-identification(Re-ID)features,historical trajectory information,and spatial position information For the third module,we re-track the miss-detected vehicles with occlusions in the first detection module.Besides,we utilize the asymmetric convolution and depth-wise separable convolution to reduce the model’s parameters for speed-up.Extensive experimental results show the effectiveness of our proposed multi-vehicle tracking framework.

SiamCPN:Visual tracking with the Siamese center-prediction network

Object detection is widely used in object tracking;anchor-free object tracking provides an end-to-end single-object-tracking approach.In this study,we propose a new anchor-free network,the Siamese center-prediction network(SiamCPN).Given the presence of referenced object features in the initial frame,we directly predict the center point and size of the object in subsequent frames in a Siamese-structure network without the need for perframe post-processing operations.Unlike other anchor-free tracking approaches that are based on semantic segmentation and achieve anchor-free tracking by pixel-level prediction,SiamCPN directly obtains all information required for tracking,greatly simplifying the model.A center-prediction sub-network is applied to multiple stages of the backbone to adaptively learn from the experience of different branches of the Siamese net.The model can accurately predict object location,implement appropriate corrections,and regress the size of the target bounding box.Compared to other leading Siamese networks,SiamCPN is simpler,faster,and more efficient as it uses fewer hyperparameters.Experiments demonstrate that our method outperforms other leading Siamese networks on GOT-10K and UAV123 benchmarks,and is comparable to other excellent trackers on LaSOT,VOT2016,and OTB-100 while improving inference speed 1.5 to 2 times.