Accurate Scale Estimation with IoU and Distance between Centroids for Object Tracking
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摘要: 目标跟踪中基于IoU (Intersection over union, IoU)预测的尺度估计方法, 通过估计视频帧中候选框与真实目标框的重叠度训练尺度回归模型, 推理阶段通过最大化IoU对初始化边界框进行微调, 取得目标的尺度. 本文详细分析了基于IoU预测的尺度估计模型的梯度更新过程, 发现其在训练和推理过程仅将IoU作为度量, 缺乏对预测框和真实目标框中心点距离的约束, 导致外观模型更新过程中模板受到污染, 前景和背景分类时定位出现偏差. 基于此发现, 本文构建了一种结合IoU和中心点距离的新度量NDIoU (Normalization distance IoU), 在此基础上提出一种新的尺度估计方法, 并将其嵌入判别式跟踪框架. 即在训练阶段以NDIoU为标签, 设计了具有中心点距离约束的损失函数监督网络的学习, 在线推理期间通过最大化NDIoU微调目标尺度, 以帮助外观模型更新时获得更加准确的样本. 在七个数据上与相关主流方法进行对比, 本文方法在七个数据集上的综合性能优于所有对比算法. 特别是在GOT-10k数据集上, 本文方法的AO、
$ S{R}_{0.5} $ 和$ S{R}_{0.75} $ 三个指标达到了65.4%、78.7%和53.4%, 分别超过基线模型4.3%、7.0%和4.2%.Abstract: The scale estimation based on IoU (Intersection over Union) prediction in object tracking trains the bounding box regression branch by estimating the IoU between the candidate box and the ground-truth in the video frame, and fine-tunes the initial bounding box by maximizing the IoU to obtain the object scale during inference. This paper first analyzes the gradient update process of the scale estimation model of IoU prediction in detail, and finds that when the IoU is used as a metric in the training and inference process, the target scale estimation in the tracking process is inaccurate due to the absence of distance between the two centroids. As a result, the template is polluted in the updating process of the object appearance model, which cannot discriminate the target and environment. With this insight, we propose a new metric NDIoU (Normalization Distance IoU) that combines the IoU and distance between two centroids to estimate the target scale and proposes a new scale estimation method, which is embedded into the discriminative tracking framework. NDIoU is used as the label to supervise the learning of the network and train the scale regression model. During online inference, NDIoU is maximized to fine-tune the target scale. Finally, the proposed method is embedded into the discriminative tracking framework and compared with related state-of-the-art methods on seven data sets. The extensive experiments demonstrate that our method outperforms all the state-of-the-art algorithms. Especially, on the GOT-10k data set, our method achieves 65.4%, 78.7% and 53.4% on the three metrics of AO,$ S{R}_{0.5} $ and$ S{R}_{0.75} $ , which are better than the baseline by 4.3%, 7.0% and 4.2%, respectively.-
Key words:
- Object Tracking /
- IoU /
- Scale Estimation /
- Distance between Centroids
1) 收稿日期 2021-04-24 录用日期 2021-11-02 Manuscript received April 24, 2021; accepted November 2, 2021 国家自然科学基金 (62162045) 资助, 江西省科技支撑计划项目20192BBE50073 资助 Supported by National Natural Science Foundation of P. R. China (62162045), supported by Jiangxi Provincial Science and Technology Key Project 20192BBE50073 本文责任编委 Recommended by Associate Editor 1. 南昌航空大学软件学院计算机视觉研究所 南昌 330063 2.江西省图像处理与模式识别重点实验室 南昌 3300632) 1. School of Software, Nanchang Hangkong University, Nanchang 330063 2. Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition, Nanchang Hangkong University, Nanchang 330063 -
表 1 OTB-100上的消融实验
Table 1 Ablation study on OTB-100
AUC (%) Precision (%) Norm.Pre (%) FPS 多尺度搜索 68.4 88.8 83.8 21 IoU 68.4 89.4 84.2 35 NDIoU 69.8 91.3 87.3 35 表 2 在UAV123上和SOTA算法的比较
Table 2 Compare with SOTA trackers on UAV123
表 3 在VOT2018上与SOTA方法的比较
Table 3 Compare with SOTA trackers on VOT2018
DRT[38] RCO[39] UPDT[32] DaSiamRPN[37] MFT[39] LADCF[40] ATOM[9] SiamRPN++[16] Dimp50 (baseline)[14] PrDiMP50[15] ASEID (ours) EAO 0.356 0.376 0.378 0.383 0.385 0.389 0.401 0.414 0.440 0.442 0.454 Robustness 0.201 0.155 0.184 0.276 0.140 0.159 0.204 0.234 0.153 0.165 0.153 Accuracy 0.519 0.507 0.536 0.586 0.505 0.503 0.590 0.600 0.597 0.618 0.615 表 4 在GOT-10k上与SOTA方法的比较
Table 4 Compare with SOTA trackers on GOT-10k
DCFST[30] PrDiMP50[15] KYS[17] SiamFC++[13] D3S[41] Ocean[12] ROAM[31] ATOM[7] DiMP50 (baseline)[14] ASEID (ours) $ \mathit{S}{\mathit{R}}_{0.50}\left (\mathbf{\%}\right) $ 68.3 73.8 75.1 69.5 67.6 72.1 46.6 63.4 71.7 78.7 $ \mathit{S}{\mathit{R}}_{0.75} $ (%) 44.8 54.3 51.5 47.9 46.2 — 16.4 40.2 49.2 53.4 $ \mathit{A}\mathit{O}\left (\mathbf{\%}\right) $ 59.2 63.4 63.6 59.5 59.7 61.1 43.6 55.6 61.1 65.4 表 5 在LaSOT上与SOTA方法的比较
Table 5 Compare with SOTA trackers on LaSOT
表 6 在TrackingNet上与SOTA方法的比较
Table 6 Compare with SOTA trackers on TrackingNet
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