CEM: Continuous Energy Minimization for Multi-target Tracking


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Benchmark:

Short name:

CEM

Detector:

Public

Description:

Contrary to recent approaches, we focus on designing a continuous energy that corresponds
to a more complete representation of the problem, rather than one that
is amenable to global optimization. Besides the image evidence, the
energy function takes into account physical constraints, such as target
dynamics, mutual exclusion, and track persistence. In addition, partial
image evidence is handled with explicit occlusion reasoning, and
different targets are disambiguated with an appearance model. To
nevertheless find strong local minima of the proposed non-convex energy
we construct a suitable optimization scheme that alternates between
continuous conjugate gradient descent and discrete trans-dimensional
jump moves. These moves, which are executed such that they always reduce
the energy, allow the search to escape weak minima and explore a much
larger portion of the search space of varying dimensionality.

[Parameters]
wtEdet=0.56906
wtEdyn=2.1107
wtEexc=0.86348
wtEper=1.4427
wtEreg=0.5
wtEapp=0
lambda=0.19852

Reference:

A. Milan, S. Roth, K. Schindler. Continuous Energy Minimization for Multitarget Tracking. In IEEE TPAMI, 2014.

Last submitted:

February 19, 2020 (8 months ago)

Published:

November 01, 2014 at 03:09:33 CET

Submissions:

2

Open source:

Yes

Hardware:

2.6 GHz, 16 Cores

Runtime:

1.1 Hz

Benchmark performance:

Sequence MOTA IDF1 MOTP MT ML FP FN Recall Precision FAF ID Sw. Frag
2D MOT 201519.30.070.761 (8.5)335 (46.5)14,18034,59143.765.42.5813 (18.6)1,023 (23.4)

Detailed performance:

Sequence MOTA IDF1 MOTP MT ML FP FN Recall Precision FAF ID Sw. Frag
ADL-Rundle-19.20.071.4743,9044,46552.055.47.882125
ADL-Rundle-315.40.071.7693,2465,28248.060.15.27683
AVG-TownCentre-2.60.068.9131222,1704,97930.350.04.8186232
ETH-Crossing18.20.071.43157973326.977.40.4810
ETH-Jelmoli36.20.071.76134801,11056.274.81.12854
ETH-Linthescher18.40.073.8101423286,88322.986.20.38077
KITTI-1631.60.072.31327885949.575.21.32632
KITTI-199.90.065.63151,8532,86746.357.21.792175
PETS09-S2L244.90.070.2566574,50653.388.71.5150165
TUD-Crossing61.60.073.2424834768.594.00.22821
Venice-117.70.071.0341,1372,56043.963.82.55749

Raw data: