PD-SORT:基于伪深度线索的闭塞鲁棒多目标跟踪

IF 4.3 2区 计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Yanchao Wang;Dawei Zhang;Run Li;Zhonglong Zheng;Minglu Li
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引用次数: 0

摘要

多目标跟踪(MOT)是视频处理技术中的一个新兴课题,在消费电子领域具有重要的应用价值。目前,基于检测的跟踪(tracking-by-detection, TBD)是MOT的主流模式,它逐帧进行目标检测和关联。然而,在严重遮挡的复杂场景中,TBD方法的关联性能会下降,这阻碍了该方法在现实场景中的应用。为此,我们结合伪深度线索来提高关联性能,并提出了伪深度排序(PD-SORT)。首先,我们用伪深度状态扩展卡尔曼滤波状态向量。其次,将传统的二维体积IoU与拟深度相结合,提出了一种新的深度体积IoU (DVIoU)。此外,我们还开发了一种量化伪深度测量(QPDM)策略,以实现更稳健的数据关联。此外,我们还集成了摄像机运动补偿(CMC)来处理动态摄像机情况。通过上述设计,PD-SORT显著缓解了闭塞引起的模糊关联,并在DanceTrack、MOT17和MOT20上取得了领先的表现。请注意,在DanceTrack中,改进尤其明显,其中对象显示复杂的运动,相似的外观和频繁的闭塞。代码可在https://github.com/Wangyc2000/PD_SORT上获得。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
PD-SORT: Occlusion-Robust Multi-Object Tracking Using Pseudo-Depth Cues
Multi-object tracking (MOT) is a rising topic in video processing technologies and has important application value in consumer electronics. Currently, tracking-by-detection (TBD) is the dominant paradigm for MOT, which performs target detection and association frame by frame. However, the association performance of TBD methods degrades in complex scenes with heavy occlusions, which hinders the application of such methods in real-world scenarios. To this end, we incorporate pseudo-depth cues to enhance the association performance and propose Pseudo-Depth SORT (PD-SORT). First, we extend the Kalman filter state vector with pseudo-depth states. Second, we introduce a novel depth volume IoU (DVIoU) by combining the conventional 2D IoU with pseudo-depth. Furthermore, we develop a quantized pseudo-depth measurement (QPDM) strategy for more robust data association. Besides, we also integrate camera motion compensation (CMC) to handle dynamic camera situations. With the above designs, PD-SORT significantly alleviates the occlusion-induced ambiguous associations and achieves leading performances on DanceTrack, MOT17, and MOT20. Note that the improvement is especially obvious on DanceTrack, where objects show complex motions, similar appearances, and frequent occlusions. The code is available at https://github.com/Wangyc2000/PD_SORT.
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来源期刊
CiteScore
7.70
自引率
9.30%
发文量
59
审稿时长
3.3 months
期刊介绍: The main focus for the IEEE Transactions on Consumer Electronics is the engineering and research aspects of the theory, design, construction, manufacture or end use of mass market electronics, systems, software and services for consumers.
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