BIT: Biologically Inspired Tracker

An Intelligent Vision-Based Tracking Method for Underground Human Using Infrared Videos

The underground mine environment is dangerous and harsh, tracking and detecting humans based on computer vision is of great significance for mine safety monitoring, which will also greatly facilitate identification of humans using the symmetrical image features of human organs. However, existing methods have difficulty solving the problems of accurate identification of humans and background, unstable human appearance characteristics, and humans occluded or lost. For these reasons, an improved aberrance repressed correlation filter (IARCF) tracker for human tracking in underground mines based on infrared videos is proposed. Firstly, the preprocess operations of edge sharpening, contrast adjustment, and denoising are used to enhance the image features of original videos. Secondly, the response map characteristics of peak shape and peak to side lobe ratio (PSLR) are analyzed to identify abnormal human locations in each frame, and the method of calculating the image similarity by generating virtual tracking boxes is used to accurately relocate the human. Finally, using the value of PSLR and the highest peak point of the response map, the appearance model is adaptively updated to further improve the robustness of the tracker. Experimental results show that the average precision and success rate of the IARCF tracker in the five underground scenarios reach 0.8985 and 0.7183, respectively, and the improvement of human tracking in difficult scenes is excellent. The IARCF tracker can effectively track underground human targets, especially occluded humans in complex scenes.

Low-Rank Multi-Channel Features for Robust Visual Object Tracking

Kernel correlation filters (KCF) demonstrate significant potential in visual object tracking by employing robust descriptors. Proper selection of color and texture features can provide robustness against appearance variations. However, the use of multiple descriptors would lead to a considerable feature dimension. In this paper, we propose a novel low-rank descriptor, that provides better precision and success rate in comparison to state-of-the-art trackers. We accomplished this by concatenating the magnitude component of the Overlapped Multi-oriented Tri-scale Local Binary Pattern (OMTLBP), Robustness-Driven Hybrid Descriptor (RDHD), Histogram of Oriented Gradients (HoG), and Color Naming (CN) features. We reduced the rank of our proposed multi-channel feature to diminish the computational complexity. We formulated the Support Vector Machine (SVM) model by utilizing the circulant matrix of our proposed feature vector in the kernel correlation filter. The use of discrete Fourier transform in the iterative learning of SVM reduced the computational complexity of our proposed visual tracking algorithm. Extensive experimental results on Visual Tracker Benchmark dataset show better accuracy in comparison to other state-of-the-art trackers.

State-aware Anti-drift Object Tracking

Correlation filter (CF) based trackers have aroused increasing attentions in visual tracking field due to the superior performance on several datasets while maintaining high running speed. For each frame, an ideal filter is trained in order to discriminate the target from its surrounding background. Considering that the target always undergoes external and internal interference during tracking procedure, the trained tracker should not only have the ability to judge the current state when failure occurs, but also to resist the model drift caused by challenging distractions. To this end, we present a State-aware Anti-drift Tracker (SAT) in this paper, which jointly model the discrimination and reliability information in filter learning. Specifically, global context patches are incorporated into filter training stage to better distinguish the target from backgrounds. Meanwhile, a color-based reliable mask is learned to encourage the filter to focus on more reliable regions suitable for tracking. We show that the proposed optimization problem could be efficiently solved using Alternative Direction Method of Multipliers and fully carried out in Fourier domain. Furthermore, a Kurtosis-based updating scheme is advocated to reveal the tracking condition as well as guarantee a high-confidence template updating. Extensive experiments are conducted on OTB-100 and UAV-20L datasets to compare the SAT tracker with other relevant state-of-the-art methods. Both quantitative and qualitative evaluations further demonstrate the effectiveness and robustness of the proposed work.

Distractor-Aware Deep Regression for Visual Tracking

In recent years, regression trackers have drawn increasing attention in the visual-object tracking community due to their favorable performance and easy implementation. The tracker algorithms directly learn mapping from dense samples around the target object to Gaussian-like soft labels. However, in many real applications, when applied to test data, the extreme imbalanced distribution of training samples usually hinders the robustness and accuracy of regression trackers. In this paper, we propose a novel effective distractor-aware loss function to balance this issue by highlighting the significant domain and by severely penalizing the pure background. In addition, we introduce a full differentiable hierarchy-normalized concatenation connection to exploit abstractions across multiple convolutional layers. Extensive experiments were conducted on five challenging benchmark-tracking datasets, that is, OTB-13, OTB-15, TC-128, UAV-123, and VOT17. The experimental results are promising and show that the proposed tracker performs much better than nearly all the compared state-of-the-art approaches.

Robust Correlation Tracking for UAV Videos via Feature Fusion and Saliency Proposals

Following the growing availability of low-cost, commercially available unmanned aerial vehicles (UAVs), more and more research efforts have been focusing on object tracking using videos recorded from UAVs. However, tracking from UAV videos poses many challenges due to platform motion, including background clutter, occlusion, and illumination variation. This paper tackles these challenges by proposing a correlation filter-based tracker with feature fusion and saliency proposals. First, we integrate multiple feature types such as dimensionality-reduced color name (CN) and histograms of oriented gradient (HOG) features to improve the performance of correlation filters for UAV videos. Yet, a fused feature acting as a multivector descriptor cannot be directly used in prior correlation filters. Therefore, a fused feature correlation filter is proposed that can directly convolve with a multivector descriptor, in order to obtain a single-channel response that indicates the location of an object. Furthermore, we introduce saliency proposals as re-detector to reduce background interference caused by occlusion or any distracter. Finally, an adaptive template-update strategy according to saliency information is utilized to alleviate possible model drifts. Systematic comparative evaluations performed on two popular UAV datasets show the effectiveness of the proposed approach.

Unmanned Aerial Vehicle Object Tracking by Correlation Filter with Adaptive Appearance Model

With the increasing availability of low-cost, commercially available unmanned aerial vehicles (UAVs), visual tracking using UAVs has become more and more important due to its many new applications, including automatic navigation, obstacle avoidance, traffic monitoring, search and rescue, etc. However, real-world aerial tracking poses many challenges due to platform motion and image instability, such as aspect ratio change, viewpoint change, fast motion, scale variation and so on. In this paper, an efficient object tracking method for UAV videos is proposed to tackle these challenges. We construct the fused features to capture the gradient information and color characteristics simultaneously. Furthermore, cellular automata is introduced to update the appearance template of target accurately and sparsely. In particular, a high confidence model updating strategy is developed according to the stability function. Systematic comparative evaluations performed on the popular UAV123 dataset show the efficiency of the proposed approach.

Robust Object Tracking With Discrete Graph-Based Multiple Experts

Variations of target appearances due to illumination changes, heavy occlusions, and target deformations are the major factors for tracking drift. In this paper, we show that the tracking drift can be effectively corrected by exploiting the relationship between the current tracker and its historical tracker snapshots. Here, a multi-expert framework is established by the current tracker and its historical trained tracker snapshots. The proposed scheme is formulated into a unified discrete graph optimization framework, whose nodes are modeled by the hypotheses of the multiple experts. Furthermore, an exact solution of the discrete graph exists giving the object state estimation at each time step. With the unary and binary compatibility graph scores defined properly, the proposed framework corrects the tracker drift via selecting the best expert hypothesis, which implicitly analyzes the recent performance of the multi-expert by only evaluating graph scores at the current frame. Three base trackers are integrated into the proposed framework to validate its effectiveness. We first integrate the online SVM on a budget algorithm into the framework with significant improvement. Then, the regression correlation filters with hand-crafted features and deep convolutional neural network features are introduced, respectively, to further boost the tracking performance. The proposed three trackers are extensively evaluated on three data sets: TB-50, TB-100, and VOT2015. The experimental results demonstrate the excellent performance of the proposed approaches against the state-of-the-art methods.

Connected Component Model for Multi-Object Tracking

In multi-object tracking, it is critical to explore the data associations by exploiting the temporal information from a sequence of frames rather than the information from the adjacent two frames. Since straightforwardly obtaining data associations from multi-frames is an NP-hard multi-dimensional assignment (MDA) problem, most existing methods solve this MDA problem by either developing complicated approximate algorithms, or simplifying MDA as a 2D assignment problem based upon the information extracted only from adjacent frames. In this paper, we show that the relation between associations of two observations is the equivalence relation in the data association problem, based on the spatial-temporal constraint that the trajectories of different objects must be disjoint. Therefore, the MDA problem can be equivalently divided into independent subproblems by equivalence partitioning. In contrast to existing works for solving the MDA problem, we develop a connected component model (CCM) by exploiting the constraints of the data association and the equivalence relation on the constraints. Based upon CCM, we can efficiently obtain the global solution of the MDA problem for multi-object tracking by optimizing a sequence of independent data association subproblems. Experiments on challenging public data sets demonstrate that our algorithm outperforms the state-of-the-art approaches.