MV-GLMB-AB (Multiview GLMB-Adaptive Birth)

This is the official Python and C++ implementation repository for a paper entitled "Track Initialization and Re-Identification for 3D Multi-View Multi-Object Tracking", Information Fusion (arXiv 2405.18606).

Quick Overview

• Our method tracks 3D objects using only 2D detections from monocular cameras without needing detector retraining.
• Our approach maintains functionality despite camera reconfiguration by updating only the camera matrices for efficient online tracking.
• Integrating object re-identification features and kinematics into our measurement model allows us to perform track re-identification in 3D from 2D detections.

Docker image

Docker image to run MV-GLMB-AB codes can be found in Docker Hub.

Usage

1. Set Up Python Environment

   • Create a conda Python environment and activate it:

     conda create --name virtualenv python==3.7.16
     conda activate virtualenv

   • Clone this repository recursively to have EigenRand and pybind11**

     git clone --recursive https://github.com/linh-gist/mv-glmb-ab.git

2. Install Packages

   • C++ Packages (Make sure Eigen 3.4.0 is installed): Navigate to the cpp_ms_glmb_ukf folder and run python setup.py build develop
   • Python Packages: pip install -r requirements.txt or using conda install -c conda-forge motmetrics lap h5py matplotlib opencv

3. Configure Experiment Options

   • Modify options such as adaptive_birth=3, use_feat=True to run experiments with Meanshift Adaptive Birth Methods and to toggle the use of re-identification features.
   • Set Default Occlusion Model: The default occlusion model is detection_aka_occlusion_model_v2(...), but it can be changed to detection_aka_occlusion_model(...).
   • In demo.py uses glmb.runcpp(model_params, dataset, meas, adaptive_birth, use_feat) to run experiments with C++. (Note: make sure to comment this line glmb.run(model_params, dataset, meas)

4. Prepare Data

   • Datasets:
     • CMC datasets (CMC1, CMC2, CMC3, CMC4, CMC5) can be download from MEGA CLOUD, NZ.
     • WILDTRACK dataset is available EPFL CVLAB.
   • Folder structure:

     |-- data
     |   |-- images
     |   |   |-- CMC1
     |   |   |   |-- Cam_1
     |   |   |   |-- Cam_2
     |   |   |   |-- Cam_3
     |   |   |   |-- Cam_4
     |   |   |-- ...
     |   |   |-- CMC5
     |   |   |-- WILDTRACK
     |-- source code
     |   |-- cpp_ms_glmb_ukf
     |   |-- detection
     |   |   |-- cstrack
     |   |   |   |-- CMC1
     |   |   |   |   |-- Cam_1.npz
     |   |   |   |   |-- Cam_2.npz
     |   |   |   |   |-- Cam_3.npz
     |   |   |   |   |-- Cam_4.npz
     |   |   |   |-- CMC2
     |   |   |-- fairmot
     |   |-- experiments
     |   |-- ms_glmb_ukf
     |-- README.md
     

   • Update the folders containing detection files, for example, ../detection/fairmot/ in gen_meas.py.
     • FairMOT 2D image detector (output bounding boxes and re-identification feature) https://github.com/ifzhang/FairMOT
     • CSTrack 2D image detector (output bounding boxes and re-identification feature) https://github.com/JudasDie/SOTS
     • We can use pre-trained weights from FairMOT and CSTrack but to improve the accuracy of our 3D tracking algorithm on CMC and WILDTRACK datasets, 2D image detectors needs to be re-train on the CMC4 dataset (see gen_labels_cmc.py).
   • Update image files for visualization ../../data/images/ in gen_meas.py.
   • Prepare ground truth data gt_data_dir="../../data/images/" for performance evaluation using CLEAR MOT in clearmot.py and OSPA2 in ospa2.py.
   • OSPA2 is re-implemented in Python and following this paper, an example code is given in ospa2.py.

     @article{rezatofighi2020trustworthy,
       title={How trustworthy are the existing performance evaluations for basic vision tasks?},
       author={Tran Thien Dat Nguyen and Hamid Rezatofighi and Ba-Ngu Vo and Ba-Tuong Vo and Silvio Savarese and Ian Reid},
       journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
       year={2022}
     }
     

5. Run the Tracking Demo

   • Navigate to the ms_glmb_ukf and run python demo.py

   

Contact

Linh Ma ([email protected]), Machine Learning & Vision Laboratory, GIST, South Korea

Citation

If you find this project useful in your research, please consider citing by:

@article{linh2024inffus,
      title={Track Initialization and Re-Identification for {3D} Multi-View Multi-Object Tracking}, 
      author={Linh Van Ma, Tran Thien Dat Nguyen, Ba-Ngu Vo, Hyunsung Jang, Moongu Jeon},
      journal={Information Fusion},
      volume = {111},
      year={2024},
      publisher={Elsevier}
}