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Tracking Learning Detection

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Presentation on theme: "Tracking Learning Detection"— Presentation transcript:

1 Tracking Learning Detection
A Camera that Learns.

2 Why is object tracking so important ?
vehicle detection motion capture robot vision Why is object tracking so important ? scene analysis hand recognition surveillance

3

4 What is TLD intuitively?
Outline Why TLD? - Traditional methods - Challenges to old ways What is TLD intuitively? - Framework - Key ideas How does TLD work exactly? - Tracking - Learning - Detection - TLD Experiment Results

5 Why TLD ?

6 Why TLD ? https://www.youtube.com/watch?v=m-uqKfzzkvM 你會怎麼做?

7 Why TLD ? - Traditional method 1 :
Tracking Estimate motion over frames Only need initialization. Appearance changing & Partial occlusions. (?) Accumulate error. Fail if the object disappears.

8 Why TLD ? - Traditional method 2 :
Detection Off-line Learning Scan every frame independently Do not fail if the object disappears. Need off-line training. Appearance changing & Partial occlusions.

9 Why TLD ? - Challenges to old ways
Not fail if the object disappears. Appearance changing. Partial occlusions.

10 Why TLD ? - Challenges to old ways
Not fail if the object disappears. TLD is an algorithm that can solve all these tasks ! Appearance changing. Partial occlusions.

11 What is TLD intuitively?

12 What is TLD intuitively? - Framework
Tracking Off-line Learning Detection

13 What is TLD intuitively? - Framework
On-line Learning Trajectory fragment Location Update Tracking Detection Update

14 What is TLD intuitively? - Key ideas 1 : Learning
Updates training examples (add/delete) Detect Track & detect Update detector Appearance changing. Track

15 What is TLD intuitively? - Key ideas 2 : Updating
True trajectory Tracking Detection TLD Not fail if no object. Partial occlusions.

16 How does TLD work exactly?

17 How does TLD work exactly? - Framework

18 How does TLD work exactly? - Tracking
1.Reliable point selection: - Forward-backward selection Choose point 1 Discard point 2 - Use forward-backward selection to select 50% of the most reliable points.

19 How does TLD work exactly? - Tracking
2.Median-Flow tracker: and estimates displacement using median with confidence proportional to (1/scale of the median). Tracks the reliable points between consecutive frames ,

20 How does TLD work exactly? - Framework

21 How does TLD work exactly? - Detection
2bitBP features Scanning window 2BitBP : invariance to illumination RF : fast Illumination invariance 2bitBP features

22 How does TLD work exactly? - Detection
Random Forest Random Forest Posteriors Scanning window 2BitBP : invariance to illumination RF : fast If the average posteriors is larger than 50%, consider it an object 2bitBP features

23 How does TLD work exactly? - Detection
1-NN classifier Confidence =d-/(d-+d+) Feature space Random Forest Posteriors Scanning window 2bitBP features

24 How does TLD work exactly? - Framework
Pick the one with higher confidence score

25 How does TLD work exactly? - Learning
Feature space

26 How does TLD work exactly? - Learning
Updates training examples (add/delete) Detect Track & detect Update detector Track

27 How does TLD work exactly? - Learning :
Appearance changing problem solved! 1 6 10 9

28 How does TLD work exactly? - Recap : t=0

29 How does TLD work exactly? - Recap : t=1
Decide by confidence score

30 How does TLD work exactly? - Recap : t=1

31 How does TLD work exactly? - Recap : t=2
Remove if false detect

32 Experiment Result

33 Experiment Result More vid

34 Experiment Result

35 Experiment Result

36 Thank you


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