DyGLIP: A Dynamic Graph Model with Link Prediction for Accurate Multi-Camera Multiple Object Tracking

Multi-Camera Multiple Object Tracking (MC-MOT) is a significant computer vision problem due to its emerging applicability in several real-world applications. Despite a large number of existing works, solving the data association problem in any MC-MOT pipeline is arguably one of the most challenging tasks. Developing a robust MC-MOT system, however, is still highly challenging due to many practical issues such as inconsistent lighting conditions, varying object movement patterns, or the trajectory occlusions of the objects between the cameras. To address these problems, this work, therefore, proposes a new Dynamic Graph Model with Link Prediction (DyGLIP) approach to solve the data association task. Compared to existing methods, our new model offers several advantages, including better feature representations and the ability to recover from lost tracks during camera transitions. Moreover, our model works gracefully regardless of the overlapping ratios between the cameras. Experimental results show that we outperform existing MC-MOT algorithms by a large margin on several practical datasets. Notably, our model works favorably on online settings but can be extended to an incremental approach for large-scale datasets.Comment: accepted at CVPR 202

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Robust improper maximum likelihood: tuning, computation, and a comparison with other methods for robust Gaussian clustering

The two main topics of this paper are the introduction of the "optimally tuned improper maximum likelihood estimator" (OTRIMLE) for robust clustering based on the multivariate Gaussian model for clusters, and a comprehensive simulation study comparing the OTRIMLE to Maximum Likelihood in Gaussian mixtures with and without noise component, mixtures of t-distributions, and the TCLUST approach for trimmed clustering. The OTRIMLE uses an improper constant density for modelling outliers and noise. This can be chosen optimally so that the non-noise part of the data looks as close to a Gaussian mixture as possible. Some deviation from Gaussianity can be traded in for lowering the estimated noise proportion. Covariance matrix constraints and computation of the OTRIMLE are also treated. In the simulation study, all methods are confronted with setups in which their model assumptions are not exactly fulfilled, and in order to evaluate the experiments in a standardized way by misclassification rates, a new model-based definition of "true clusters" is introduced that deviates from the usual identification of mixture components with clusters. In the study, every method turns out to be superior for one or more setups, but the OTRIMLE achieves the most satisfactory overall performance. The methods are also applied to two real datasets, one without and one with known "true" clusters