Tracking by Animation: Unsupervised Learning of Multi-Object Attentive Trackers

Online Multi-Object Tracking (MOT) from videos is a challenging computer vision task which has been extensively studied for decades. Most of the existing MOT algorithms are based on the Tracking-by-Detection (TBD) paradigm combined with popular machine learning approaches which largely reduce the human effort to tune algorithm parameters. However, the commonly used supervised learning approaches require the labeled data (e.g., bounding boxes), which is expensive for videos. Also, the TBD framework is usually suboptimal since it is not end-to-end, i.e., it considers the task as detection and tracking, but not jointly. To achieve both label-free and end-to-end learning of MOT, we propose a Tracking-by-Animation framework, where a differentiable neural model first tracks objects from input frames and then animates these objects into reconstructed frames. Learning is then driven by the reconstruction error through backpropagation. We further propose a Reprioritized Attentive Tracking to improve the robustness of data association. Experiments conducted on both synthetic and real video datasets show the potential of the proposed model. Our project page is publicly available at: https://github.com/zhen-he/tracking-by-animationComment: CVPR 201

Patterns of de novo metastasis and survival outcomes by age in breast cancer patients: a SEER population-based study

BackgroundThe role of age in metastatic disease, including breast cancer, remains obscure. This study was conducted to determine the role of age in patients with de novo metastatic breast cancer.MethodsBreast cancer patients diagnosed with distant metastases between 2010 and 2019 were retrieved from the Surveillance, Epidemiology, and End Results database. Comparisons were performed between young (aged ≤ 40 years), middle-aged (41–60 years), older (61–80 years), and the oldest old (> 80 years) patients. Adjusted hazard ratios (aHRs) and 95% confidence intervals (CIs) were estimated using multivariate Cox proportional hazard models. Survival analysis was performed by the Kaplan–Meier method.ResultsThis study included 24155 (4.4% of all patients) de novo metastatic breast cancer patients. The number of young, middle-aged, older, and the oldest old patients were 195 (8.3%), 9397 (38.9%), 10224 (42.3%), and 2539 (10.5%), respectively. The 5-year OS rate was highest in the young (42.1%), followed by middle-aged (34.8%), older (28.3%), and the oldest old patients (11.8%). Multivariable Cox regression analysis showed that middle-aged (aHR, 1.18; 95% CI, 1.10–1.27), older (aHR, 1.42; 95% CI, 1.32–1.52), and the oldest old patients (aHR, 2.15; 95% CI, 1.98–2.33) had worse OS than young patients. Consistently, middle-aged (aHR, 1.16; 95% CI, 1.08–1.25), older (aHR, 1.32; 95% CI, 1.23–1.43), and the oldest old patients (aHR, 1.86; 95% CI, 1.71–2.03) had worse BCSS than young patients.ConclusionThis study provided clear evidence that de novo metastatic breast cancer had an age-specific pattern. Age was an independent risk factor for mortality in patients with de novo metastatic breast cancer

A New Curb Detection Method for Unmanned Ground Vehicles Using 2D Sequential Laser Data

sensor

A Shallow–Deep Feature Fusion Method for Pedestrian Detection

In this paper, a shallow–deep feature fusion (SDFF) method is developed for pedestrian detection. Firstly, we propose a shallow feature-based method under the ACF framework of pedestrian detection. More precisely, improved Haar-like templates with Local FDA learning are used to filter the channel maps of ACF such that these Haar-like features are able to improve the discriminative power and therefore enhance the detection performance. The proposed shallow feature is also referred to as weighted subset-haar-like feature. It is efficient in pedestrian detection with a high recall rate and precise localization. Secondly, the proposed shallow feature-based detection method operates as a region proposal. A classifier equipped with ResNet is then used to refine the region proposals to judge whether each region contains a pedestrian or not. The extensive experiments evaluated on INRIA, Caltech, and TUD-Brussel datasets show that SDFF is an effective and efficient method for pedestrian detection

Human-Machine Cooperative Trajectory Planning for Semi-Autonomous Driving Based on the Understanding of Behavioral Semantics

This paper presents a novel cooperative trajectory planning approach for semi-autonomous driving. The machine interacts with the driver at the decision level and the trajectory generation level. To minimize conflicts between the machine and the human, the trajectory planning problem is decomposed into a high-level behavior decision-making problem and a low-level trajectory planning problem. The approach infers the driver’s behavioral semantics according to the driving context and the driver’s input. The trajectories are generated based on the behavioral semantics and driver’s input. The feasibility of the proposed approach is validated by real vehicle experiments. The results prove that the proposed human–machine cooperative trajectory planning approach can successfully help the driver to avoid collisions while respecting the driver’s behavior