Globally optimal solution to multi-object tracking with merged measurements

  • Authors:
  • Joao F. Henriques;Rui Caseiro;Jorge Batista

  • Affiliations:
  • Institute of Systems and Robotics, University of Coimbra, Portugal;Institute of Systems and Robotics, University of Coimbra, Portugal;Institute of Systems and Robotics, University of Coimbra, Portugal

  • Venue:
  • ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
  • Year:
  • 2011

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Abstract

Multiple object tracking has been formulated recently as a global optimization problem, and solved efficiently with optimal methods such as the Hungarian Algorithm. A severe limitation is the inability to model multiple objects that are merged into a single measurement, and track them as a group, while retaining optimality. This work presents a new graph structure that encodes these multiple-match events as standard one-to-one matches, allowing computation of the solution in polynomial time. Since identities are lost when objects merge, an efficient method to identify groups is also presented, as a flow circulation problem. The problem of tracking individual objects across groups is then posed as a standard optimal assignment. Experiments show increased performance on the PETS 2006 and 2009 datasets compared to state-of-the-art algorithms.