End-to-End Joint Multi-Object Detection and Tracking for Intelligent Transportation Systems

Environment perception is one of the most critical technology of intelligent transportation systems(ITS).Motion interaction between multiple vehicles in ITS makes it important to perform multi-object tracking(MOT).However,most existing MOT algorithms follow the tracking-by-detection framework,which separates detection and tracking into two independent segments and limit the global efciency.Recently,a few algorithms have combined feature extraction into one network;however,the tracking portion continues to rely on data association,and requires com‑plex post-processing for life cycle management.Those methods do not combine detection and tracking efciently.This paper presents a novel network to realize joint multi-object detection and tracking in an end-to-end manner for ITS,named as global correlation network(GCNet).Unlike most object detection methods,GCNet introduces a global correlation layer for regression of absolute size and coordinates of bounding boxes,instead of ofsetting predictions.The pipeline of detection and tracking in GCNet is conceptually simple,and does not require compli‑cated tracking strategies such as non-maximum suppression and data association.GCNet was evaluated on a multivehicle tracking dataset,UA-DETRAC,demonstrating promising performance compared to state-of-the-art detectors and trackers.

Robust Space-Time Adaptive Track-Before-Detect Algorithm Based on Persymmetry and Symmetric Spectrum

Underwater monopulse space-time adaptive track-before-detect method,which combines space-time adaptive detector(STAD)and the track-before-detect algorithm based on dynamic programming(DP-TBD),denoted as STAD-DP-TBD,can effectively detect low-speed weak targets.However,due to the complexity and variability of the underwater environment,it is difficult to obtain sufficient secondary data,resulting in a serious decline in the detection and tracking performance,and leading to poor robustness of the algorithm.In this paper,based on the adaptive matched filter(AMF)test and the RAO test,underwater monopulse AMF-DP-TBD algorithm and RAO-DP-TBD algorithm which incorporate persymmetry and symmetric spectrum,denoted as PSAMF-DP-TBD and PS-RAO-DP-TBD,are proposed and compared with the AMF-DP-TBD algorithm and RAO-DP-TBD algorithm based on persymmetry array,denoted as P-AMF-DP-TBD and P-RAO-DP-TBD.The simulation results show that the four methods can work normally with sufficient secondary data and slightly insufficient secondary data,but when the secondary data is severely insufficient,the P-AMF-DP-TBD and P-RAO-DP-TBD algorithms has failed while the PSAMF-DP-TBD and PS-RAO-DP-TBD algorithms still have good detection and tracking capabilities.

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.

Simultaneous Multi-vehicle Detection and Tracking Framework with Pavement Constraints Based on Machine Learning and Particle Filter Algorithm

Due to the large variations of environment with ever-changing background and vehicles with different shapes, colors and appearances, to implement a real-time on-board vehicle recognition system with high adaptability, efficiency and robustness in complicated environments, remains challenging. This paper introduces a simultaneous detection and tracking framework for robust on-board vehicle recognition based on monocular vision technology. The framework utilizes a novel layered machine learning and particle filter to build a multi-vehicle detection and tracking system. In the vehicle detection stage, a layered machine learning method is presented, which combines coarse-search and fine-search to obtain the target using the AdaBoost-based training algorithm. The pavement segmentation method based on characteristic similarity is proposed to estimate the most likely pavement area. Efficiency and accuracy are enhanced by restricting vehicle detection within the downsized area of pavement. In vehicle tracking stage, a multi-objective tracking algorithm based on target state management and particle filter is proposed. The proposed system is evaluated by roadway video captured in a variety of traffics, illumination, and weather conditions. The evaluating results show that, under conditions of proper illumination and clear vehicle appearance, the proposed system achieves 91.2% detection rate and 2.6% false detection rate. Experiments compared to typical algorithms show that, the presented algorithm reduces the false detection rate nearly by half at the cost of decreasing 2.7%–8.6% detection rate. This paper proposes a multi-vehicle detection and tracking system, which is promising for implementation in an on-board vehicle recognition system with high precision, strong robustness and low computational cost.

Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion

Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles,Lidars are accurate in determining objects’positions but significantly less accurate as Radars on measuring their velocities.However,Radars relative to Lidars are more accurate on measuring objects velocities but less accurate on determining their positions as they have a lower spatial resolution.In order to compensate for the low detection accuracy,incomplete target attributes and poor environmental adaptability of single sensors such as Radar and LiDAR,in this paper,an effective method for high-precision detection and tracking of surrounding targets of autonomous vehicles.By employing the Unscented Kalman Filter,Radar and LiDAR information is effectively fused to achieve high-precision detection of the position and speed information of targets around the autonomous vehicle.Finally,the real vehicle test under various driving environment scenarios is carried out.The experimental results show that the proposed sensor fusion method can effectively detect and track the vehicle peripheral targets with high accuracy.Compared with a single sensor,it has obvious advantages and can improve the intelligence level of autonomous cars.

Study on Dim Target Detection and Discrimination from Sea Clutter

Dim target detection from sea clutter is one of the difficult topics in ocean remote sensing application. By aiming at the shortcoming of false alarms when using track before detect （TBD） based on dynamic programming, a new discrimination method called statistics of direction histogram （SDH） is proposed, which is based on different features of trajectories between the true target and false one. Moreover, a new series of discrimination schemes of SDH and Local Extreme Value method （LEV） are studied and applied to simulate the actually measured radar data. The results show that the given discrimination is effective to reduce false alarms during dim targets detection.

Motion Tracking with Fast Adaptive Background Subtraction

To extract and tr ack moving objects is usually one of the most important tasks of intelligent video surveillance systems. This paper presents a fast and adaptive background subtraction algorithm and the motion tracking process using this algorithm. The algorithm uses only luminance components of sampled image sequence pixels and models every pixel in a statistical model. The algorithm is characterized by its ability of real time detecting sudden lighting changes, and extracting and tracking motion objects faster. It is shown that our algorithm can be realized with lower time and space complexity and adjustable object detection error rate with comparison to other background subtraction algorithms. Making use of the algorithm, an indoor monitoring system is also worked out and the motion tracking process is presented in this paper. Experimental results testify the algorithm's good performances when used in an indoor monitoring system.

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.

Tracking Human Poses with Head Orientation Estimation

Lots of progress has been made recently on 2 D human pose tracking with tracking-by-detection approaches. However,several challenges still remain in this area which is due to self-occlusions and the confusion between the left and right limbs during tracking. In this work,a head orientation detection step is introduced into the tracking framework to serve as a complementary tool to assist human pose estimation. With the face orientation determined,the system can decide whether the left or right side of the human body is exactly visible and infer the state of the symmetric counterpart. By granting a higher priority for the completely visible side,the system can avoid double counting to a great extent when inferring body poses. The proposed framework is evaluated on the HumanEva dataset. The results show that it largely reduces the occurrence of double counting and distinguishes the left and right sides consistently.

An array of two periodic leaky-wave antennas with sum and difference beam scanning for application in target detection and tracking

An array of two substrate-integrated waveguide(SIW) periodic leaky-wave antennas(LWAs) with sum and difference beam scanning is proposed for application in target detection and tracking. The array is composed of two periodic LWAs with different periods, in which each LWA generates a narrow beam through the n=-1 space harmonic. Due to the two different periods for the two LWAs, two beams with two different directions can be realized, which can be combined into a sum beam when the array is fed in phase or into a difference beam when the array is fed 180?out of phase. The array integrated with 180?hybrid is designed, fabricated, and measured.Measurement results show that the sum beam can reach a gain up to 15.9 dBi and scan from-33.4?to 20.8?. In the scanning range, the direction of the null in the difference beam is consistent with the direction of the sum beam,with the lowest null depth of-40.8 dB. With the excellent performance, the antenna provides an alternative solution with low complexity and low cost for target detection and tracking.

Improved multi-target radar TBD algorithm

Considering radar detection for multi-target recognition, a track before detect （TBD） algorithm based on Hough transform is adopted for identifying and tracking multi-target radar. By increasing the dimensions of the target characteristic parameters, the target detection and track accuracy is increased. Also, by multilevel filtering processing, the diverging points of the echo signal are condensed, which improves the performance of identifying and tracking multiple targets. Simulation results show that compared with traditional TBD algorithms, the presented algorithm has better performance in the aspects of multi-target tracking, detecting and distinguishing.

Novel method for real-time detection and tracking of pig body and its different parts

Detection and tracking of all major parts of pig body could be more productive to help to analyze pig behavior.To achieve this goal,a real-time algorithm based on You Only Look At CoefficienTs(YOLACT)was proposed.A pig body was divided into ten parts:one head,one trunk,four thighs and four shanks.And the key points of each part were calculated by the novel algorithm,which was based mainly on combination of the Zhang-Suen thinning algorithm and Gravity algorithm.The experiment results showed that these parts of pig body could be detected and tracked,and their contributions to overall pig activity could also be sought out.The detect accuracy of the algorithm in the data set could reach up to 90%,and the processing speed to 30.5 fps.Furthermore,the algorithm was robust and adaptive.

Characteristics of cyclone climatology and variability in the Southern Ocean

A new climatology of cyclones in the Southern Ocean is generated by applying an automated cyclone detection and tracking algorithm （developed by Hodges at the Reading University） for an improved and relatively high- resolution European Centre for Medium-Range Weather Forecasts atmospheric reanalysis during 1979-2013. A validation shows that identified cyclone tracks are in good agreement with a available analyzed cyclone product. The climatological characteristics of the Southern Ocean cyclones are then analyzed, including track, number, density, intensity, deepening rate and explosive events. An analysis shows that the number of cyclones in the Southern Ocean has increased for 1979-2013, but only statistically significant in summer. Coincident with the circumpolar trough, a single high-density band of cyclones is observed in 55^-67~S, and cyclone density has generally increased in north of this band for 1979-2013, except summer. The intensity of up to 70% cyclones in the Southern Ocean is less than 980 hPa, and only a few cyclones with pressure less than 920 hPa are detected for 1979-2013. Further analysis shows that a high frequency of explosive cyclones is located in the band of 45^-55~S, and the Atlantic Ocean sector has much higher frequent occurrence of the explosive cyclones than that in the Pacific Ocean sector. Additionally, the relationship between cyclone activities in the Southern Ocean and the Southern Annular Mode is discussed.

The TBD method for dim targets based on multi-level crossover and matching operator

In order to improve the tracking performance in this paper following TBD(Track before Detection) framework multi-level crossover and matching operator is presented.In data association stage the greedy principle is adopted to handle time complexity in DPA and at the same time crossover mathing operator is given to construct candidate trajectory.In addition the corresponding strategy is introduced in preprocessing and postprocessing to remove clutter and suppress false alarm rate.By the experimental comparison and analysis it can be found that the method is more perfer to strengthen the tracking performance of targets with SNR < 2.0 dB.

Design of a wide-field target detection and tracking system using the segmented planar imaging detector for electro-optical reconnaissance

Detecting and tracking multiple targets simultaneously for space-based surveillance requires multiple cameras,which leads to a large system volume and weight. To address this problem, we propose a wide-field detection and tracking system using the segmented planar imaging detector for electro-optical reconnaissance. This study realizes two operating modes by changing the working paired lenslets and corresponding waveguide arrays： a detection mode and a tracking mode. A model system was simulated and evaluated using the peak signal-to-noise ratio method. The simulation results indicate that the detection and tracking system can realize wide-field detection and narrow-field, multi-target, high-resolution tracking without moving parts.

Seasonal and inter-annual variations of Arctic cyclones and their linkage with Arctic sea ice and atmospheric teleconnections

The seasonal and inter-annual variations of Arctic cyclone are investigated. An automatic cyclone tracking algorithm developed by University of Reading was applied on the basis of European Center for Medium-range Weather Forecasts（ECMWF） ERA-interim mean sea level pressure field with 6 h interval for 34 a period. The maximum number of the Arctic cyclones is counted in winter, and the minimum is in spring not in summer.About 50% of Arctic cyclones in summer generated from south of 70°N, moving into the Arctic. The number of Arctic cyclones has large inter-annual and seasonal variabilities, but no significant linear trend is detected for the period 1979–2012. The spatial distribution and linear trends of the Arctic cyclones track density show that the cyclone activity extent is the widest in summer with significant increasing trend in CRU（central Russia）subregion, and the largest track density is in winter with decreasing trend in the same subregion. The linear regressions between the cyclone track density and large-scale indices for the same period and pre-period sea ice area indices show that Arctic cyclone activities are closely linked to large-scale atmospheric circulations, such as Arctic Oscillation（AO）, North Atlantic Oscillation（NAO） and Pacific-North American Pattern（PNA）. Moreover,the pre-period sea ice area is significantly associated with the cyclone activities in some regions.

CGTracker:Center Graph Network for One-Stage Multi-Pedestrian-Object Detection and Tracking

Most current online multi-object tracking(MOT)methods include two steps:object detection and data association,where the data association step relies on both object feature extraction and affinity computation.This often leads to additional computation cost,and degrades the efficiency of MOT methods.In this paper,we combine the object detection and data association module in a unified framework,while getting rid of the extra feature extraction process,to achieve a better speed-accuracy trade-off for MOT.Considering that a pedestrian is the most common object category in real-world scenes and has particularity characteristics in objects relationship and motion pattern,we present a novel yet efficient one-stage pedestrian detection and tracking method,named CGTracker.In particular,CGTracker detects the pedestrian target as the center point of the object,and directly extracts the object features from the feature representation of the object center point,which is used to predict the axis-aligned bounding box.Meanwhile,the detected pedestrians are constructed as an object graph to facilitate the multi-object association process,where the semantic features,displacement information and relative position relationship of the targets between two adjacent frames are used to perform the reliable online tracking.CGTracker achieves the multiple object tracking accuracy(MOTA)of 69.3%and 65.3%at 9 FPS on MOT17 and MOT20,respectively.Extensive experimental results under widely-used evaluation metrics demonstrate that our method is one of the best techniques on the leader board for the MOT17 and MOT20 challenges at the time of submission of this work.

采用核相关滤波的快速TLD视觉目标跟踪

目的如何对目标进行快速鲁棒的跟踪一直是计算机视觉的重要研究方向之一,TLD(tracking-learningdetection)算法为这一问题提供了一种有效的解决方法,为了进一步提高TLD算法的跟踪性能,从两个方面对其进行了改进。方法首先在跟踪模块采用尺度自适应的核相关滤波器(KCF)作为跟踪器,考虑到跟踪模块与检测模块相互独立,本文算法使用检测模块对跟踪模块结果的准确性进行判断,并根据判断结果对KCF滤波器模板进行有选择地更新;然后在检测模块,运用光流法对目标位置进行初步预测,依据预测结果动态调整目标检测区域后,再使用分类器对目标进行精确定位。结果为了验证本文算法的优越性,对其进行了两组实验,实验1在OTB2013和Temple Color128这两个平台上对本文算法进行了跟踪性能的测试,其结果表明本文算法在OTB2013上的跟踪精度和成功率分别为0. 761和0. 559,在Temple Color128上的跟踪精度和成功率分别为0. 678和0. 481,且在所有测试视频上的平均跟踪速度达到了27. 92帧/s;实验2将本文算法与其他3种改进算法在随机选取的8组视频上进行了跟踪测试与对比分析,实验结果表明,本文算法具有最小的中心位置误差14. 01、最大的重叠率72. 2%以及最快的跟踪速度26. 23帧/s,展现出良好的跟踪性能。结论本文算法使用KCF跟踪器,提高了算法对遮挡、光照变化和运动模糊等场景的适应能力,使用光流法缩小检测区域,提高了算法的跟踪速度。实验结果表明,本文算法在多数情况下均取得优于参考算法的跟踪性能,在对目标进行长时间跟踪时表现出良好的跟踪鲁棒性。

A Climatology of Extratropical Cyclones over East Asia During 1958-2001

A climatology of extratropical cyclones （ECs） over East Asia （20~ 75~N, 60^-160~E） is analyzed by applying an improved objective detection and tracking algorithm to the 4-time daily sea level pressure fields from the European Centre for Medium-range Weather Forecasts （ECMWF） reanalysis data. A total of 12914 EC processes for the period of 1958-2001 are identified, with an EC database integrated and EC activities reanalyzed using the objective algorithm. The results reveal that there are three major cyclogenesis regions： West Siberian Plain, Mongolia （to the south of Lake Baikal）, and the coastal region of East China; whereas significant cyclolysis regions are observed in Siberia north of 60~N, Northeast China, and Okhotsk Se^Northwest Pacific. It is found that the EC lifetime is largely 1 7 days while winter ECs have the shortest lifespan. The ECs are the weakest in summer among the four seasons. Strong ECs often appear in West Siberia, Northeast China, and Okhotsk Sea-Northwest Pacific. Statistical analysis based on k-means clustering has identified 6 dominating trajectories in the area south of 55~N and east of 80~E, among which 4 tracks have important impacts on weather/climate in China. ECs occurring in spring （summer） tend to travel the longest （shortest）. They move the fastest in winter, and the slowest in summer. In winter, cyclones move fast in Northeast China, some areas of the Yangtze-Huaihe River region, and the south of Japan, with speed greater than 15 m s-1. Explosively-deepening cyclones are found to occur frequently along the east coast of China, Japan, and Northwest Pacific, but very few storms occur over the inland area. Bombs prefer to occur in winter, spring, and autumn. Their annual number and intensity in 1990 and 1992 in East Asia （EA） are smaller and weaker than their counterparts in North America.