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English | 简体中文

MOT (Multi-Object Tracking)

Table of Contents

Introduction

The current mainstream of 'Tracking By Detecting' multi-object tracking (MOT) algorithm is mainly composed of two parts: detection and embedding. Detection aims to detect the potential targets in each frame of the video. Embedding assigns and updates the detected target to the corresponding track (named ReID task). According to the different implementation of these two parts, it can be divided into SDE series and JDE series algorithm.

  • SDE (Separate Detection and Embedding) is a kind of algorithm which completely separates Detection and Embedding. The most representative is DeepSORT algorithm. This design can make the system fit any kind of detectors without difference, and can be improved for each part separately. However, due to the series process, the speed is slow. Time-consuming is a great challenge in the construction of real-time MOT system.
  • JDE (Joint Detection and Embedding) is to learn detection and embedding simultaneously in a shared neural network, and set the loss function with a multi task learning approach. The representative algorithms are JDE and FairMOT. This design can achieve high-precision real-time MOT performance.

Paddledetection implements three MOT algorithms of these two series, they are DeepSORT of SDE algorithm, and JDE,FairMOT of JDE algorithm.

PP-Tracking real-time MOT system

In addition, PaddleDetection also provides PP-Tracking real-time multi-object tracking system. PP-Tracking is the first open source real-time Multi-Object Tracking system, and it is based on PaddlePaddle deep learning framework. It has rich models, wide application and high efficiency deployment.

PP-Tracking supports two paradigms: single camera tracking (MOT) and multi-camera tracking (MTMCT). Aiming at the difficulties and pain points of actual business, PP-Tracking provides various MOT functions and applications such as pedestrian tracking, vehicle tracking, multi-class tracking, small object tracking, traffic statistics and multi-camera tracking. The deployment method supports API and GUI visual interface, and the deployment language supports Python and C++, The deployment platform environment supports Linux, NVIDIA Jetson, etc.

AI studio public project tutorial

PP-tracking provides an AI studio public project tutorial. Please refer to this tutorial.

Python predict and deployment

PP-Tracking supports Python predict and deployment. Please refer to this doc.

C++ predict and deployment

PP-Tracking supports C++ predict and deployment. Please refer to this doc.

GUI predict and deployment

PP-Tracking supports GUI predict and deployment. Please refer to this doc.


video source：VisDrone, BDD100K dataset

Installation

Install all the related dependencies for MOT:

pip install lap motmetrics sklearn
or
pip install -r requirements.txt

Notes:

  • Please make sure that ffmpeg is installed first, on Linux(Ubuntu) platform you can directly install it by the following command:apt-get update && apt-get install -y ffmpeg.

Model Zoo

Dataset Preparation

MOT Dataset

PaddleDetection implement JDE and FairMOT, and use the same training data named 'MIX' as them, including Caltech Pedestrian, CityPersons, CUHK-SYSU, PRW, ETHZ, MOT17 and MOT16. The former six are used as the mixed dataset for training, and MOT16 are used as the evaluation dataset. If you want to use these datasets, please follow their licenses.

Notes:

  • Multi-Object Tracking(MOT) datasets are always used for single category tracking. DeepSORT, JDE and FairMOT are single category MOT models. 'MIX' dataset and it's sub datasets are also single category pedestrian tracking datasets. It can be considered that there are additional IDs ground truth for detection datasets.
  • In order to train the feature models of more scenes, more datasets are also processed into the same format as the MIX dataset. PaddleDetection Team also provides feature datasets and models of vehicle tracking, head tracking and more general pedestrian tracking. User defined datasets can also be prepared by referring to data preparation doc.
  • The multipe category MOT model is [MCFairMOT] (mcfairmot/readme_cn.md), and the multi category dataset is the integrated version of VisDrone dataset. Please refer to the doc of MCFairMOT.
  • The Multi-Target Multi-Camera Tracking (MTMCT) model is AIC21 MTMCT(CityFlow) Multi-Camera Vehicle Tracking dataset. The dataset and model can refer to the doc of MTMCT

Dataset Directory

First, download the image_lists.zip using the following command, and unzip them into PaddleDetection/dataset/mot:

wget https://bj.bcebos.com/v1/paddledet/data/mot/image_lists.zip

Then, download the MIX dataset using the following command, and unzip them into PaddleDetection/dataset/mot:

wget https://bj.bcebos.com/v1/paddledet/data/mot/MOT17.zip
wget https://bj.bcebos.com/v1/paddledet/data/mot/Caltech.zip
wget https://bj.bcebos.com/v1/paddledet/data/mot/CUHKSYSU.zip
wget https://bj.bcebos.com/v1/paddledet/data/mot/PRW.zip
wget https://bj.bcebos.com/v1/paddledet/data/mot/Cityscapes.zip
wget https://bj.bcebos.com/v1/paddledet/data/mot/ETHZ.zip
wget https://bj.bcebos.com/v1/paddledet/data/mot/MOT16.zip

The final directory is:

dataset/mot
  |——————image_lists
            |——————caltech.10k.val  
            |——————caltech.all  
            |——————caltech.train  
            |——————caltech.val  
            |——————citypersons.train  
            |——————citypersons.val  
            |——————cuhksysu.train  
            |——————cuhksysu.val  
            |——————eth.train  
            |——————mot16.train  
            |——————mot17.train  
            |——————prw.train  
            |——————prw.val
  |——————Caltech
  |——————Cityscapes
  |——————CUHKSYSU
  |——————ETHZ
  |——————MOT16
  |——————MOT17
  |——————PRW

Data Format

These several relevant datasets have the following structure:

MOT17
   |——————images
   |        └——————train
   |        └——————test
   └——————labels_with_ids
            └——————train

Annotations of these datasets are provided in a unified format. Every image has a corresponding annotation text. Given an image path, the annotation text path can be generated by replacing the string images with labels_with_ids and replacing .jpg with .txt.

In the annotation text, each line is describing a bounding box and has the following format:

[class] [identity] [x_center] [y_center] [width] [height]

Notes:

  • class is the class id, support single class and multi-class, start from 0, and for single class is 0.
  • identity is an integer from 1 to num_identities(num_identities is the total number of instances of objects in the dataset of all videos or image squences), or -1 if this box has no identity annotation.
  • [x_center] [y_center] [width] [height] are the center coordinates, width and height, note that they are normalized by the width/height of the image, so they are floating point numbers ranging from 0 to 1.

Citations

@inproceedings{Wojke2017simple,
  title={Simple Online and Realtime Tracking with a Deep Association Metric},
  author={Wojke, Nicolai and Bewley, Alex and Paulus, Dietrich},
  booktitle={2017 IEEE International Conference on Image Processing (ICIP)},
  year={2017},
  pages={3645--3649},
  organization={IEEE},
  doi={10.1109/ICIP.2017.8296962}
}

@inproceedings{Wojke2018deep,
  title={Deep Cosine Metric Learning for Person Re-identification},
  author={Wojke, Nicolai and Bewley, Alex},
  booktitle={2018 IEEE Winter Conference on Applications of Computer Vision (WACV)},
  year={2018},
  pages={748--756},
  organization={IEEE},
  doi={10.1109/WACV.2018.00087}
}

@article{wang2019towards,
  title={Towards Real-Time Multi-Object Tracking},
  author={Wang, Zhongdao and Zheng, Liang and Liu, Yixuan and Wang, Shengjin},
  journal={arXiv preprint arXiv:1909.12605},
  year={2019}
}

@article{zhang2020fair,
  title={FairMOT: On the Fairness of Detection and Re-Identification in Multiple Object Tracking},
  author={Zhang, Yifu and Wang, Chunyu and Wang, Xinggang and Zeng, Wenjun and Liu, Wenyu},
  journal={arXiv preprint arXiv:2004.01888},
  year={2020}
}

@article{zhang2021bytetrack,
  title={ByteTrack: Multi-Object Tracking by Associating Every Detection Box},
  author={Zhang, Yifu and Sun, Peize and Jiang, Yi and Yu, Dongdong and Yuan, Zehuan and Luo, Ping and Liu, Wenyu and Wang, Xinggang},
  journal={arXiv preprint arXiv:2110.06864},
  year={2021}
}

@article{cao2022observation,
  title={Observation-Centric SORT: Rethinking SORT for Robust Multi-Object Tracking},
  author={Cao, Jinkun and Weng, Xinshuo and Khirodkar, Rawal and Pang, Jiangmiao and Kitani, Kris},
  journal={arXiv preprint arXiv:2203.14360},
  year={2022}
}

@article{aharon2022bot,
  title={BoT-SORT: Robust Associations Multi-Pedestrian Tracking},
  author={Aharon, Nir and Orfaig, Roy and Bobrovsky, Ben-Zion},
  journal={arXiv preprint arXiv:2206.14651},
  year={2022}
}

@article{zhou2020tracking,
  title={Tracking Objects as Points},
  author={Zhou, Xingyi and Koltun, Vladlen and Kr{\"a}henb{\"u}hl, Philipp},
  journal={ECCV},
  year={2020}
}