2,714 research outputs found
DroTrack: High-speed Drone-based Object Tracking Under Uncertainty
We present DroTrack, a high-speed visual single-object tracking framework for
drone-captured video sequences. Most of the existing object tracking methods
are designed to tackle well-known challenges, such as occlusion and cluttered
backgrounds. The complex motion of drones, i.e., multiple degrees of freedom in
three-dimensional space, causes high uncertainty. The uncertainty problem leads
to inaccurate location predictions and fuzziness in scale estimations. DroTrack
solves such issues by discovering the dependency between object representation
and motion geometry. We implement an effective object segmentation based on
Fuzzy C Means (FCM). We incorporate the spatial information into the membership
function to cluster the most discriminative segments. We then enhance the
object segmentation by using a pre-trained Convolution Neural Network (CNN)
model. DroTrack also leverages the geometrical angular motion to estimate a
reliable object scale. We discuss the experimental results and performance
evaluation using two datasets of 51,462 drone-captured frames. The combination
of the FCM segmentation and the angular scaling increased DroTrack precision by
up to and decreased the centre location error by pixels on average.
DroTrack outperforms all the high-speed trackers and achieves comparable
results in comparison to deep learning trackers. DroTrack offers high frame
rates up to 1000 frame per second (fps) with the best location precision, more
than a set of state-of-the-art real-time trackers.Comment: 10 pages, 12 figures, FUZZ-IEEE 202
Data association and occlusion handling for vision-based people tracking by mobile robots
This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets
Improved data association and occlusion handling for vision-based people tracking by mobile robots
This paper presents an approach for tracking multiple persons using a combination of colour and thermal vision sensors on a mobile robot. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is then incorporated into the tracker
Understanding and Diagnosing Visual Tracking Systems
Several benchmark datasets for visual tracking research have been proposed in
recent years. Despite their usefulness, whether they are sufficient for
understanding and diagnosing the strengths and weaknesses of different trackers
remains questionable. To address this issue, we propose a framework by breaking
a tracker down into five constituent parts, namely, motion model, feature
extractor, observation model, model updater, and ensemble post-processor. We
then conduct ablative experiments on each component to study how it affects the
overall result. Surprisingly, our findings are discrepant with some common
beliefs in the visual tracking research community. We find that the feature
extractor plays the most important role in a tracker. On the other hand,
although the observation model is the focus of many studies, we find that it
often brings no significant improvement. Moreover, the motion model and model
updater contain many details that could affect the result. Also, the ensemble
post-processor can improve the result substantially when the constituent
trackers have high diversity. Based on our findings, we put together some very
elementary building blocks to give a basic tracker which is competitive in
performance to the state-of-the-art trackers. We believe our framework can
provide a solid baseline when conducting controlled experiments for visual
tracking research
Planar Object Tracking in the Wild: A Benchmark
Planar object tracking is an actively studied problem in vision-based robotic
applications. While several benchmarks have been constructed for evaluating
state-of-the-art algorithms, there is a lack of video sequences captured in the
wild rather than in constrained laboratory environment. In this paper, we
present a carefully designed planar object tracking benchmark containing 210
videos of 30 planar objects sampled in the natural environment. In particular,
for each object, we shoot seven videos involving various challenging factors,
namely scale change, rotation, perspective distortion, motion blur, occlusion,
out-of-view, and unconstrained. The ground truth is carefully annotated
semi-manually to ensure the quality. Moreover, eleven state-of-the-art
algorithms are evaluated on the benchmark using two evaluation metrics, with
detailed analysis provided for the evaluation results. We expect the proposed
benchmark to benefit future studies on planar object tracking.Comment: Accepted by ICRA 201
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