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Multi-Target Tracking by Online Learning a CRF Model of Appearance and Motion Patterns

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Abstract

We introduce an online learning approach for multi-target tracking. Detection responses are gradually associated into tracklets in multiple levels to produce final tracks. Unlike most previous approaches which only focus on producing discriminative motion and appearance models for all targets, we further consider discriminative features for distinguishing difficult pairs of targets. The tracking problem is formulated using an online learned CRF model, and is transformed into an energy minimization problem. The energy functions include a set of unary functions that are based on motion and appearance models for discriminating all targets, as well as a set of pairwise functions that are based on models for differentiating corresponding pairs of tracklets. The online CRF approach is more powerful at distinguishing spatially close targets with similar appearances, as well as in tracking targets in presence of camera motions. An efficient algorithm is introduced for finding an association with low energy cost. We present results on four public data sets, and show significant improvements compared with several state-of-art methods.

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Notes

  1. Definitions are given in Sect. 5.

  2. http://iris.usc.edu/people/yangbo/downloads.html

  3. Detection time costs are not included in either measurements.

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Acknowledgments

Research was sponsored, in part, by Office of Naval Research under Grant number N00014-10-1-0517 and by the Army Research Laboratory and was accomplished under Cooperative Agreement Number W911NF-10-2-0063. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Army Research Laboratory or the U.S. Government. The U.S. Government is authorized to reproduce and distribute reprints for Government purposes notwithstanding any copyright notation herein.

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  1. Institute for Robotics and Intelligent Systems, University of Southern California, Los Angeles, CA, USA

    Bo Yang & Ramakant Nevatia

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  1. Bo Yang
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  2. Ramakant Nevatia
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Correspondence to Bo Yang.

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Yang, B., Nevatia, R. Multi-Target Tracking by Online Learning a CRF Model of Appearance and Motion Patterns. Int J Comput Vis 107, 203–217 (2014). https://doi.org/10.1007/s11263-013-0666-4

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