Object tracking by hierarchical association of detection responses
First Claim
1. An image processing system configured to receive a plurality of input images and track objects within image frames, the system comprising:
- a hardware processing system configured to;
perform a first level of association between detection responses in image frames, wherein the detection responses include a vector having position, size, and frame index components, including forming one or more tracklets between pairs of detection responses having suitable link probabilities;
receive the one or more tracklets formed as a result of the first level of association, and perform a second level of association, including producing a tracklet association between tracklets;
perform a third level of association, including estimating a scene structure model from the second level of association; and
provide as an output a trajectory set of the tracklets.
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Abstract
Systems, methods, and computer readable storage media are described that can provide a multi-level hierarchical framework to progressively associate detection responses, in which different methods and models are adopted to improve tracking robustness. A modified transition matrix for the Hungarian algorithm can be used to solve the association problem that considers not only initialization, termination and transition of tracklets but also false alarm hypotheses. A Bayesian inference approach can be used to automatically estimate a scene structure model as the high-level knowledge for the long-range trajectory association.
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Citations
20 Claims
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1. An image processing system configured to receive a plurality of input images and track objects within image frames, the system comprising:
a hardware processing system configured to; perform a first level of association between detection responses in image frames, wherein the detection responses include a vector having position, size, and frame index components, including forming one or more tracklets between pairs of detection responses having suitable link probabilities; receive the one or more tracklets formed as a result of the first level of association, and perform a second level of association, including producing a tracklet association between tracklets; perform a third level of association, including estimating a scene structure model from the second level of association; and provide as an output a trajectory set of the tracklets. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An article of manufacture comprising:
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a non-transitory machine readable storage medium; and executable program instructions embodied in the machine readable storage medium that when executed by a processor of a programmable computing device configures the programmable computing device to control an image processing system receiving a plurality of images, to perform functions for object tracking within image frames, including instructions to; perform a first level of association between detection responses in image frames, including forming one or more tracklets between pairs of detection responses having suitable link probabilities, wherein the detection responses include a vector having position, size, and frame index components; receive the one or more tracklets formed as a result of the first level of association, and perform a second level of association, including producing a tracklet association between tracklets; perform a third level of association, including estimating a scene structure model from the second level of association; and provide as an output a trajectory set of the tracklets. - View Dependent Claims (12)
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13. A method of object tracking within image frames, the method comprising:
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using a processing system, performing a first level of association between detection responses in image frames, wherein the detection responses include a vector having position, size, and frame index components, the first level of association including forming one or more tracklets between pairs of detection responses having suitable link probabilities, wherein the first level of association produces a tracklet set, and the second level of association comprises, for each tracklet in the in the tracklet set, obtaining a motion model and an appearance model; using the processing system, receiving the one or more tracklets formed as a result of the first level of association, performing a second level of association, including producing a tracklet association between tracklets, wherein the second level of association comprises obtaining an optimal tracklet association set and a corresponding tracklet set; using the processing system, performing a third level of association, wherein performing a third level of association includes estimating a scene structure model from the second level of association; and provide as an output a trajectory set of the tracklets. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification