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PointTrack(ECCV2020 ORAL): Segment as Points for Efficient Online Multi-Object Tracking and Segmentation

APOLLO MOTS (v1) is currently available. APOLLO MOTS (code: vqp8).

This codebase implements PointTrack (and its extention PointTrackV2), a highly effective framework for multi-object tracking and segmentation (MOTS) described in:

@inproceedings{xu2020Segment,
  title={Segment as Points for Efficient Online Multi-Object Tracking and Segmentation},
  author={Xu, Zhenbo and Zhang, Wei and Tan, Xiao and Yang, Wei and Huang, Huan and Wen, Shilei and Ding, Errui and Huang, Liusheng},
  booktitle={Proceedings of the European Conference on Computer Vision (ECCV)},
  year={2020}
}

PointTrackV2 is submitted to TPAMI.

PointTrack presents a new learning strategy for pixel-wise feature learning on the 2D image plane, which has proven to be effective for instance association.

Our network architecture adopts SpatialEmbedding as the segmentation sub-network. The current ranking of PointTrack is available in KITTI leader-board. Until now (07/03/2020), PointTrack++ still ranks first for both cars and pedestrians. The detailed task description of MOTS is avaliable in MOTS challenge.

Getting started

This codebase showcases the proposed framework named PointTrack for MOTS using the KITTI MOTS dataset.

Prerequisites

Dependencies:

  • Pytorch 1.3.1 (and others), please set up an virtual env and run:
$ pip install -r requirements.txt

Note that the scripts for evaluation is included in this repo. After images and instances (annotations) are downloaded, put them under kittiRoot and change the path in repoRoot/config.py accordingly. The structure under kittiRoot should looks like:

kittiRoot
│   images -> training/image_02/ 
│   instances
│   │    0000
│   │    0001
│   │    ...
│   training
│   │   image_02
│   │   │    0000
│   │   │    0001
│   │   │    ...  
│   testing
│   │   image_02
│   │   │    0000
│   │   │    0001
│   │   │    ... 

Pretrained weights

We provide fine-tuned models on KITTI MOTS (for cars):

  • SpatialEmbedding for cars.
  • PointTrack for cars. You can download them via Baidu Disk or Google Drive.
  • testset segs can be found in the folder 'testset_segs'.

Testing

You can download pretrained models from the above links. Save these weight file under repoRoot/pointTrack_weights.

1.To generate the instance segmentation results:

$ python -u test_mots_se.py car_test_se_to_save

The segmentation result will be saved according to the config file repoRoot/config_mots/car_test_se_to_save.py.

2.To test PointTrack on the instance segmentation results:

$ python -u test_tracking.py car_test_tracking_val

The pretrained model gets 85.51 sMOTSA for cars on the validation set.

Training of PointTrack

The training procedure of instance association is as follows.

1.To generate the segmentation result on the validation set as the instruction of the first step in Testing.

2.To generate the instance DB from videos:

$ python -u datasets/MOTSInstanceMaskPool.py

3.Change the line which loads weights to the default path as follows:

checkpoint_path='./pointTrack_weights/PointTrack.pthCar' --> checkpoint_path='./car_finetune_tracking/checkpoint.pth'

4.Afterwards start training:

$ python -u train_tracker_with_val.py car_finetune_tracking

The best tracker on the validation set will be saved under the folder specified in repoRoot/config_mots/car_finetune_tracking.py.

Training of SpatialEmbedding

Note that the training of SpatialEmbedding needs KITTI object detection left color images as well as the KINS annotations. Please download images from KITTI dataset, and unzip the zip file under kittiRoot. Please download two KINS annotation json files from instances_train.json,instances_val.json, and put files under kittiRoot.

For the training of SpatialEmbedding, we follow the original training setting of SpatialEmbedding. Different foreground weights are adopted for different classes (200 for cars and 50 for pedestrians). In this following, we take cars for example to explain training procedures.

0.As there are many in-valid frames in MOTS that contain no cars, we only select these valid frames for training SpatialEmbedding.

$ python -u datasets/MOTSImageSelect.py

1.To parse KINS annotations, run:

$ python -u datasets/ParseKINSInstance.py

After this step, KINS annotations are saved under kittiRoot/training/KINS/ and kittiRoot/testing/KINS/.

2.To generate these crops do the following:

$ python -u utils/generate_crops.py

After this step, crops are saved under kittiRoot/crop_KINS. (roughly 92909 crops)

3.Afterwards start training on crops:

$ python -u train_SE.py car_finetune_SE_crop

4.Afterwards start finetuning on KITTI MOTS with BN fixed:

$ python -u train_SE.py car_finetune_SE_mots

Cite us

We borrow some code from SpatialEmebdding.

@inproceedings{xu2020Segment,
  title={Segment as Points for Efficient Online Multi-Object Tracking and Segmentation},
  author={Xu, Zhenbo and Zhang, Wei and Tan, Xiao and Yang, Wei and Huang, Huan and Wen, Shilei and Ding, Errui and Huang, Liusheng},
  booktitle={Proceedings of the European Conference on Computer Vision (ECCV)},
  year={2020}
}
@inproceedings{xupointtrack++,
  title={PointTrack++ for Effective Online Multi-Object Tracking and Segmentation},
  author={Xu, Zhenbo and Zhang, Wei and Tan, Xiao and Yang, Wei and Su, Xiangbo and Yuan, Yuchen and Zhang, Hongwu and Wen, Shilei and Ding, Errui and Huang, Liusheng},
  booktitle={CVPR Workshops},
  year={2020}
}

Q&A

  1. Where is the APOLLO MOTS?
  • As suggested by ECCV reviewers, APOLLO MOTS should be revised before publish.
  1. Why is the training of Temporal Seed Consistency not included in this repo?
  • In PointTrack++, we find that the improvement of the temporal seed consistency is minor. Therefore, in this repo, we provide this simplified version for easy usage.
  1. The schedule of PointTrack++.
  • We are working on cleaning the code of PointTrack++. It will be publicly available soon.

Contact

If you find problems in the code, please open an issue.

For general questions, please contact the corresponding author Wei Yang (qubit@ustc.edu.cn).

License

This software is released under a creative commons license which allows for personal and research use only. For a commercial license please contact the authors. You can view a license summary here.

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