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目标跟踪中基于IoU和中心点距离预测的尺度估计

李绍明 储珺 冷璐 涂序继

李绍明, 储珺, 冷璐, 涂序继. 目标跟踪中基于IoU和中心点距离预测的尺度估计. 自动化学报, 2024, 50(8): 1001−1014 doi: 10.16383/j.aas.c210356
引用本文: 李绍明, 储珺, 冷璐, 涂序继. 目标跟踪中基于IoU和中心点距离预测的尺度估计. 自动化学报, 2024, 50(8): 1001−1014 doi: 10.16383/j.aas.c210356
Li Shao-Ming, Chu Jun, Leng Lu, Tu Xu-Ji. Accurate scale estimation with IoU and distance between centroids for object tracking. Acta Automatica Sinica, 2024, 50(8): 1001−1014 doi: 10.16383/j.aas.c210356
Citation: Li Shao-Ming, Chu Jun, Leng Lu, Tu Xu-Ji. Accurate scale estimation with IoU and distance between centroids for object tracking. Acta Automatica Sinica, 2024, 50(8): 1001−1014 doi: 10.16383/j.aas.c210356

目标跟踪中基于IoU和中心点距离预测的尺度估计

doi: 10.16383/j.aas.c210356
基金项目: 国家自然科学基金(62162045), 江西省科技支撑计划项目(20192BBE50073)资助
详细信息
    作者简介:

    李绍明:南昌航空大学软件学院硕士研究生. 主要研究方向为计算机视觉和目标跟踪. E-mail: thorn_mo1905@163.com

    储珺:南昌航空大学软件学院教授. 主要研究方向为计算机视觉和模式识别. 本文通信作者.E-mail: chuj@nchu.edu.cn

    冷璐:南昌航空大学软件学院教授. 主要研究方向为图像处理, 生物特征模板保护和生物特征识别. E-mail: leng@nchu.edu.cn

    涂序继:南昌航空大学软件学院讲师. 主要研究方向为计算机视觉和图像处理. E-mail: 71068@nchu.edu.cn

Accurate Scale Estimation With IoU and Distance Between Centroids for Object Tracking

Funds: Supported by National Natural Science Foundation of China (62162045) and Jiangxi Provincial Science and Technology Key Project (20192BBE50073)
More Information
    Author Bio:

    LI Shao-Ming Master student at the School of Software, Nanchang Hangkong University. His research interest covers computer vision and object tracking

    CHU Jun Professor at the School of Software, Nanchang Hangkong University. Her research interest covers computer vision and pattern recognition. Corresponding author of this paper

    LENG Lu Professor at the School of Software, Nanchang Hangkong University. His research interest covers image processing, biometric template protection and biometric recognition

    TU Xu-Ji Lecturer at the School of Software, Nanchang Hangkong University. His research interest covers computer vision and image processing

  • 摘要: 通过分析基于交并比(Intersection over union, 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, 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. 在七个数据集上与相关主流方法进行对比, 所提方法的综合性能优于所有对比算法. 特别是在GOT-10k数据集上, 所提方法的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%.
  • 图  1  IoU相同但中心点距离不同的情况(红色代表候选的边界框, 绿色代表真实边界框)

    Fig.  1  Same IoU while different distances between centroids (Red represents the candidate bounding box, and green represents the ground-truth)

    图  2  标准化中心点之间的距离

    Fig.  2  Normalized distance between centroids

    图  3  IoU和中心点距离对应视频帧数的统计

    Fig.  3  The number statistics of video frame corresponding to IoU and distances between centroids

    图  4  在视频序列Dinosaur上跟踪的结果可视化

    Fig.  4  Visualization of tracking results on the video sequence Dinosaur

    图  5  本文方法(ASEID)在OTB-100数据集上与相关方法的比较

    Fig.  5  Comparison of the proposed method (ASEID) with related algorithms on OTB-100 dataset

    图  6  OTB-100 数据集不同挑战性因素影响下的成功率图

    Fig.  6  Success plots on sequences with different challenging attributes on OTB-100 dataset

    图  7  OTB-100 数据集不同挑战性因素影响下的准确率图

    Fig.  7  Precision plots on sequences with different challenging attributes on OTB-100 dataset

    图  8  本文方法与相关方法的可视化比较

    Fig.  8  Visualization comparison of the proposed method and related trackers

    图  9  OTB-100数据集中的失败案例(绿色框代表真实框, 红色框代表本文算法的预测框)

    Fig.  9  Failure cases in OTB-100 (The green bounding box is ground truth, and the red box represents the prediction box)

    图  10  GOT-10k数据集中的失败案例(在GOT-10k的测试集中, 由于只能拿到测试视频序列的第一帧的真实框, 因此第一帧的标记代表被跟踪目标)

    Fig.  10  Failure cases in GOT-10k (In GOT-10k test set, only the ground truth in the first frame of the test video sequence can be obtained. Therefore, the ground truth of the first frame represents the tracked target)

    表  1  OTB-100数据集上的消融实验

    Table  1  Ablation study on OTB-100 dataset

    方法 AUC (%)Precision (%)Norm.Pre (%)帧速率(帧/s)
    多尺度搜索68.488.883.821
    IoU68.489.484.235
    NDIoU69.891.387.335
    下载: 导出CSV

    表  2  在UAV123数据集上和SOTA算法的比较(%)

    Table  2  Compare with SOTA trackers on UAV123 dataset (%)

    SiamBAN[33]CGACD[34]POST[35]MetaRTT[36]ECO[28]UPDT[32]DaSiamRPN[37]ATOM[7]DiMP50 (基线)[14]ASEID (本文)
    AUC63.163.362.956.952.454.256.963.264.364.5
    Precision83.383.380.080.974.176.878.184.485.086.1
    Norm.Pre66.870.974.279.180.581.6
    下载: 导出CSV

    表  3  在VOT2018数据集上与SOTA方法的比较

    Table  3  Compare with SOTA trackers on VOT2018 dataset

    DRT[38]RCO[39]UPDT[32]DaSiamRPN[37]MFT[39]LADCF[40]ATOM[9]SiamRPN++[16]Dimp50 (基线)[14]PrDiMP50[15]ASEID (本文)
    EAO0.3560.3760.3780.3830.3850.3890.4010.4140.4400.4420.454
    Robustness0.2010.1550.1840.2760.1400.1590.2040.2340.1530.1650.153
    Accuracy0.5190.5070.5360.5860.5050.5030.5900.6000.5970.6180.615
    下载: 导出CSV

    表  4  在GOT-10k数据集上与SOTA方法的比较(%)

    Table  4  Compare with SOTA trackers on GOT-10k dataset (%)

    DCFST[30]PrDiMP50[15]KYS[17]SiamFC++[13]D3S[41]Ocean[12]ROAM[31]ATOM[7]DiMP50 (基线)[14]ASEID (本文)
    $ \mathit{S}{\mathit{R}}_{0.50}$68.373.875.169.567.672.146.663.471.778.7
    $ \mathit{S}{\mathit{R}}_{0.75} $44.854.351.547.946.216.440.249.253.4
    $ \mathit{A}\mathit{O}$59.263.463.659.559.761.143.655.661.165.4
    下载: 导出CSV

    表  5  在LaSOT数据集上与SOTA方法的比较(%)

    Table  5  Compare with SOTA trackers on LaSOT dataset (%)

    ASRCF[6]POST[35]Ocean[12]GlobalT[42]SiamRPN++[19]ROAM[31]ATOM[9]DiMP50 (基线)[14]ASEID (本文)
    Precision33.746.356.652.756.944.550.556.957.5
    Success (AUC)35.948.156.052.149.644.751.456.957.2
    下载: 导出CSV

    表  6  在TrackingNet上与SOTA方法的比较(%)

    Table  6  Compare with SOTA trackers on TrackingNet (%)

    MDNet[29]ECO[28]DaSiamRPN[37]D3S[41]ROAM[31]CGACD[34]ATOM[9]Dimp50 (基线)[14]ASEID (本文)
    AUC60.655.463.872.867.071.170.374.075.3
    Precision56.549.259.166.462.369.364.868.771.1
    Norm.Pre70.561.873.377.180.181.9
    下载: 导出CSV

    表  7  在TC128上与SOTA算法比较(%)

    Table  7  Compare with SOTA trackers on TC128 (%)

    POST[35]MetaRTT[36]ASRCF[6]UDT[43]TADT[44]Re2EMA[45]RTMDNet[46]MLT[47]DiMP50 (基线)[14]ASEID (本文)
    AUC56.359.760.354.156.252.156.349.861.263.2
    Precision78.180.082.571.769.578.881.084.2
    下载: 导出CSV
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  • 收稿日期:  2021-04-24
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