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    CenterTrack-Tracking Objects As Points

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    Rahul Deora
    This document summarizes a new approach for simultaneous object detection and multi-object tracking called CenterTrack. CenterTrack frames tracking as detection conditioned on previous tracks, representing each object as a point and using a heatmap to encode the center point locations. It achieves simplified tracking through conditioned detection, point-based matching rather than traditional algorithms, and training directly on video frames. Evaluation on standard benchmarks like MOT17, KITTI, and nuScenes shows it achieves state-of-the-art or competitive performance with advantages of simplicity and efficiency.

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    CenterTrack-Tracking Objects As Points

    Uploaded by

    Rahul Deora
    89 views45 pages
    This document summarizes a new approach for simultaneous object detection and multi-object tracking called CenterTrack. CenterTrack frames tracking as detection conditioned on previous tracks, representing each object as a point and using a heatmap to encode the center point locations. It achieves simplified tracking through conditioned detection, point-based matching rather than traditional algorithms, and training directly on video frames. Evaluation on standard benchmarks like MOT17, KITTI, and nuScenes shows it achieves state-of-the-art or competitive performance with advantages of simplicity and efficiency.

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    CenterTrack-Tracking Objects as Points

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    This document summarizes a new approach for simultaneous object detection and multi-object tracking called CenterTrack. CenterTrack frames tracking as detection conditioned on previous tracks, representing each object as a point and using a heatmap to encode the center point locations. It achieves simplified tracking through conditioned detection, point-based matching rather than traditional algorithms, and training directly on video frames. Evaluation on standard benchmarks like MOT17, KITTI, and nuScenes shows it achieves state-of-the-art or competitive performance with advantages of simplicity and efficiency.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    89 views45 pages

    CenterTrack-Tracking Objects As Points

    Uploaded by

    Rahul Deora
    This document summarizes a new approach for simultaneous object detection and multi-object tracking called CenterTrack. CenterTrack frames tracking as detection conditioned on previous tracks, representing each object as a point and using a heatmap to encode the center point locations. It achieves simplified tracking through conditioned detection, point-based matching rather than traditional algorithms, and training directly on video frames. Evaluation on standard benchmarks like MOT17, KITTI, and nuScenes shows it achieves state-of-the-art or competitive performance with advantages of simplicity and efficiency.

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    © All Rights Reserved
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    You are on page 1of 45

    Tracking Objects as Points

    Xingyi Zhou, Vladlen Koltun, Philipp Krähenbühl


    UT Austin & Intel Labs
    Early trackers

    https://www.mathworks.com/matlabcentral/fileexchange/48745-lucas-kanade-tutorial-example-2
    Early trackers

    https://www.mathworks.com/matlabcentral/fileexchange/48745-lucas-kanade-tutorial-example-2
    Current frameworks: Tracking-after-detection
    Frame t-1

    Frame t
    Current frameworks: Tracking-after-detection
    Frame t-1

    Frame t
    Current frameworks: Tracking-after-detection
    Current frameworks: Tracking-after-detection
    Current frameworks: Tracking-after-detection

    Tang et al. 2017: Re-identification features, pose features


    Xu et al. 2019: Spatial-temporal trajectories
    Simultaneous detection and tracking
    Frame t-1

    Frame t

    Bergmann et al. 2019 Tracking without bells and whistles


    Simultaneous detection and tracking
    Frame t-1

    Frame t

    Bergmann et al. 2019 Tracking without bells and whistles


    Frame t

    Frame t-1

    Tracks t-1 Deep Network


    Frame t
    Frame t-1
    Tracks t-1
    Frame t Detections t

    Frame t-1

    Deep
    Network
    Tracks t-1 Offsets t → t-1
    Detections t
    Offsets t → t-1
    Offsets t → t-1
    Advantages
    Advantages
    • Simplified tracking conditioned detection.
    Conditioned detection
    • Ours:
    • Tractor [Bergmann et al. 2019]:

    • Implicit prior heatmap • Explicit region proposal


    Advantages
    • Simplified tracking conditioned detection.

    • Simplified matching.
    Point-based matching
    • Ours:
    • Prior works:

    • Greedy matching by point distance. • Hungarian algorithm.

    • Separate motion model.

    • Additional association features.


    Advantages
    • Simplified tracking conditioned detection.

    • Simplified matching.

    • Simplified training on videos.


    Frame t-1
    Frame t
    Results
    Results - KITTI
    Extend to monocular 3D tracking
    Results - monocular 3D tracking on nuScenes
    Ablation studies
    MOT17 (30 FPS) KITTI (10 FPS) nuScenes (2FPS)
    67 89 30
    detection only
    w/o offset
    w/o heatmap
    66 87.75 Ours 22.5

    65 86.5 15

    64 85.25 7.5

    63 84 0
    Ablation studies
    MOT17 (30 FPS) KITTI (10 FPS) nuScenes (2FPS)
    67 89 30
    detection only
    without vs. with heatmap w/o offset
    w/o heatmap
    66 87.75 Ours 22.5

    65 86.5 15

    64 85.25 7.5

    63 84 0
    Ablation studies
    MOT17 (30 FPS) KITTI (10 FPS) nuScenes (2FPS)
    89 30
    67 without vs. with offset
    detection only
    w/o offset
    w/o heatmap
    66 87.75 Ours 22.5

    65 86.5 15

    64 85.25 7.5

    63 84 0
    Ablation studies
    MOT17 (30 FPS) KITTI (10 FPS) nuScenes (2FPS)
    67 89 30
    detection only
    w/o offset
    w/o heatmap
    66 87.75 Ours 22.5

    65 86.5 15

    64 85.25 7.5

    63 84 0
    Ablation studies - motion models
    Trained on image data only
    Trained on image data only
    Code is available!

    https://github.com/xingyizhou/CenterTrack

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