This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level annotations is tedious and time-consuming. Motivated by the fact that in real-world scenarios object motion can be usually represented by a Markov process, we present a novel expectation maximization ({EM}) algorithm that trains a neural network to associate detections for tracking, without requiring prior knowledge of their temporal correspondences. At the core of our method lies a neural Kalman filter, with an observation model conditioned on associations of detections parameterized by a neural network. Given a batch of frames as input, data associations between detections from adjacent frames are predicted by a neural network followed by a Sinkhorn normalization that determines the assignment probabilities of detections to states. Kalman smoothing is then used to obtain the marginal probability of observations given the inferred states, producing a training objective to maximize this marginal probability using gradient descent. The proposed framework is fully differentiable, allowing the underlying neural model to be trained end-to-end. We evaluate our approach on the challenging {MOT}17, {MOT}20, and {BDD}100K datasets and achieve state-of-the-art results in comparison to self-supervised trackers using public detections.<\/p>\n","protected":false},"excerpt":{"rendered":"
This paper introduces a novel framework to learn data association for multi-object tracking in a self-supervised manner. Fully-supervised learning methods are known to achieve excellent tracking performances, but acquiring identity-level annotations is tedious and time-consuming. Motivated by the fact that in real-world scenarios object motion can be usually represented by a Markov process, we present a novel expectation maximization ({EM}) algorithm that trains a neural network to associate detections for […]<\/p>\n","protected":false},"author":12,"featured_media":0,"template":"","meta":{"_acf_changed":false,"footnotes":""},"publication-type":[32],"class_list":["post-32241","publication","type-publication","status-publish","hentry","publication-type-inproceedings"],"acf":[],"publishpress_future_workflow_manual_trigger":{"enabledWorkflows":[]},"_links":{"self":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32241","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication"}],"about":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/types\/publication"}],"author":[{"embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/users\/12"}],"version-history":[{"count":0,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32241\/revisions"}],"wp:attachment":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/media?parent=32241"}],"wp:term":[{"taxonomy":"publication-type","embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication-type?post=32241"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}