Add Improved Association Pipeline Tracker by Stadler and Beyerer (https://ieeexplore.ieee.org/document/10223159)

.github/workflows/ci.yml

@@ -116,7 +116,7 @@ jobs:
     outputs:
       status: ${{ job.status }}
     env:
-      TRACKERS: "ocsort bytetrack botsort hybridsort deepocsort"
+      TRACKERS: "ocsort bytetrack botsort hybridsort deepocsort imprassoc"
 
     # Timeout: https://stackoverflow.com/a/59076067/4521646
     timeout-minutes: 50

.gitignore

@@ -12,6 +12,9 @@ __pycache__/
 runs/
 videos/
 
+# experiment files
+*.pkl
+
 # Downloaded weights
 weights/*.pt
 weights/*.torchscript

README.md

@@ -30,6 +30,7 @@ This repo contains a collections of pluggable state-of-the-art multi-object trac
 | [HybridSORT](https://arxiv.org/pdf/2308.00783.pdf) | 77.3 | 77.9 | 88.8 |
 | [ByteTrack](https://arxiv.org/pdf/2110.06864.pdf)  | 75.6 | 74.6 | 86.0 |
 | [StrongSORT](https://arxiv.org/pdf/2202.13514.pdf) |      | | |
+| [ImprAssoc](https://ieeexplore.ieee.org/document/10223159)| | |
 | <img width=200/>                                   | <img width=100/> | <img width=100/> | <img width=100/> |
 
 <sub> NOTES: performed on the 10 first frames of each MOT17 sequence. The detector used is ByteTrack's YoloXm, trained on: CrowdHuman, MOT17, Cityperson and ETHZ. Each tracker is configured with its original parameters found in their respective official repository.</sub>
@@ -147,6 +148,7 @@ $ python tracking/track.py --tracking-method deepocsort
                                              ocsort
                                              bytetrack
                                              botsort
+                                             imprassoc
 ```
 
 </details>

boxmot/__init__.py

@@ -10,9 +10,11 @@
 from boxmot.trackers.hybridsort.hybridsort import HybridSORT
 from boxmot.trackers.ocsort.ocsort import OCSort as OCSORT
 from boxmot.trackers.strongsort.strong_sort import StrongSORT
+from boxmot.trackers.imprassoc.impr_assoc_tracker import ImprAssocTrack
 
-TRACKERS = ['bytetrack', 'botsort', 'strongsort', 'ocsort', 'deepocsort', 'hybridsort']
+
+TRACKERS = ['bytetrack', 'botsort', 'strongsort', 'ocsort', 'deepocsort', 'hybridsort', 'imprassoc']
 
 __all__ = ("__version__",
-           "StrongSORT", "OCSORT", "BYTETracker", "BoTSORT", "DeepOCSORT", "HybridSORT",
+           "StrongSORT", "OCSORT", "BYTETracker", "BoTSORT", "DeepOCSORT", "HybridSORT", "ImprAssocTrack"
            "create_tracker", "get_tracker_config", "gsi")

boxmot/configs/botsort.yaml

@@ -1,8 +1,8 @@
 # Trial number:      0
-# HOTA, MOTA, IDF1:  [20.236, 5.1887, 12.987]
+# HOTA, MOTA, IDF1:  [37.804, 19.34, 34.483]
 appearance_thresh: 0.7636154550757781
 cmc_method: sparseOptFlow
-conf: 0.5024512355200363
+conf: 0.4828271520496597
 frame_rate: 30
 lambda_: 0.9764964093204093
 match_thresh: 0.22182609980772128

boxmot/configs/imprassoc.yaml

@@ -0,0 +1,12 @@
+appearance_thresh: 0.25
+cmc_method: sparseOptFlow
+frame_rate: 30
+lambda_: 0.2
+match_thresh: 0.65
+new_track_thresh: 0.7
+overlap_thresh: 0.55
+proximity_thresh: 0.1
+second_match_thresh: 0.19
+track_buffer: 35
+track_high_thresh: 0.6
+track_low_thresh: 0.1

boxmot/tracker_zoo.py

@@ -123,6 +123,27 @@ def create_tracker(tracker_type, tracker_config, reid_weights, device, half, per
             use_byte=cfg.use_byte,
         )
         return hybridsort
+    elif tracker_type == 'imprassoc':
+        from boxmot.trackers.imprassoc.impr_assoc_tracker import ImprAssocTrack
+        imprassoc = ImprAssocTrack(
+            reid_weights,
+            device,
+            half,
+            per_class=per_class,
+            track_high_thresh=cfg.track_high_thresh,
+            track_low_thresh=cfg.track_low_thresh,
+            new_track_thresh=cfg.new_track_thresh,
+            track_buffer=cfg.track_buffer,
+            match_thresh=cfg.match_thresh,
+            second_match_thresh=cfg.second_match_thresh,
+            overlap_thresh=cfg.overlap_thresh,
+            lambda_=cfg.lambda_,
+            proximity_thresh=cfg.proximity_thresh,
+            appearance_thresh=cfg.appearance_thresh,
+            cmc_method=cfg.cmc_method,
+            frame_rate=cfg.frame_rate,
+        )
+        return imprassoc
     else:
         print('No such tracker')
         exit()

boxmot/trackers/imprassoc/basetrack.py

@@ -0,0 +1,60 @@
+import numpy as np
+from collections import OrderedDict
+
+
+class TrackState(object):
+    New = 0
+    Tracked = 1
+    Lost = 2
+    LongLost = 3
+    Removed = 4
+
+
+class BaseTrack(object):
+    _count = 0
+
+    track_id = 0
+    is_activated = False
+    state = TrackState.New
+
+    history = OrderedDict()
+    features = []
+    curr_feature = None
+    score = 0
+    start_frame = 0
+    frame_id = 0
+    time_since_update = 0
+
+    # multi-camera
+    location = (np.inf, np.inf)
+
+    @property
+    def end_frame(self):
+        return self.frame_id
+
+    @staticmethod
+    def next_id():
+        BaseTrack._count += 1
+        return BaseTrack._count
+
+    def activate(self, *args):
+        raise NotImplementedError
+
+    def predict(self):
+        raise NotImplementedError
+
+    def update(self, *args, **kwargs):
+        raise NotImplementedError
+
+    def mark_lost(self):
+        self.state = TrackState.Lost
+
+    def mark_long_lost(self):
+        self.state = TrackState.LongLost
+
+    def mark_removed(self):
+        self.state = TrackState.Removed
+
+    @staticmethod
+    def clear_count():
+        BaseTrack._count = 0