Being intensively studied, visual object tracking has witnessed great advances in either speed (e.g., with correlation filters) or accuracy (e.g., with deep features). Real-time and high accuracy tracking algorithms, however, remain scarce. In this paper we study the problem from a new perspective and present a novel parallel tracking and verifying (PTAV) framework, by taking advantage of the ubiquity of multi-thread techniques and borrowing ideas from the success of parallel tracking and mapping in visual SLAM. The proposed PTAV framework is typically composed of two components, a (base) tracker T and a verifier V, working in parallel on two separate threads. The tracker T aims to provide a super real-time tracking inference and is expected to perform well most of the time; by contrast, the verifier V validates the tracking results and corrects T when needed. The key innovation is that, V does not work on every frame but only upon the requests from T; on the other end, T may adjust the tracking according to the feedback from V. With such collaboration, PTAV enjoys both the high efficiency provided by T and the strong discriminative power by V. Meanwhile, to adapt V to object appearance changes over time, we maintain a dynamic target template pool for adaptive verification, resulting in further performance improvements. In our extensive experiments on popular benchmarks including OTB2015, TC128, UAV20L and VOT2016, PTAV achieves the best tracking accuracy among all real-time trackers, and in fact even outperforms many deep learning based algorithms. Moreover, as a general framework, PTAV is very flexible with great potentials for future improvement and generalization.
翻译:正在深入研究的视觉物体跟踪在速度(例如,具有相关过滤器)或准确性(例如,具有深层特征)方面都取得了巨大进展。实时和高精度跟踪算法仍然很少。在本文件中,我们从新的角度研究这一问题,提出新的平行跟踪和核查框架(PTAV),利用多轨技术的无处不在,从平行跟踪和绘图的成功中借入想法。 UTAV框架通常由两个部分组成,一个(基地)跟踪器T和一个核查器V,在两个不同的线上并行工作。跟踪器T的目的是提供超级实时跟踪,预期在大部分时间里运行;相比之下,核查器VAV将验证跟踪结果,必要时对T进行纠正。 关键创新是,V并不是在每一个框架上运作,而只是根据T的要求;在另一端,T可能根据V的反馈调整跟踪结果。 有了这样的协作,PTAVV目标实现了高效率,包括TV的实时跟踪,在动态轨道上将我们的数据调整为动态轨道,在VBA级上将我们的数据升级为动态,在VBBBB的进度上,在不断学习。