chen-si-jia / object-tracking-tld

C++ implementation of the Tracking-Learning-Detection (TLD) framework for object tracking.

Object-Tracking-TLD

C++ implementation of the Tracking-Learning-Detection (TLD) framework for long-term, single-object tracking in a video stream, developed by Kalal et al [1]. As its name suggests, it has three main components: tracking, detection and learning. The tracker estimates object's motion from frame to frame. The detector localizes the object in each frame and if necessary re-initializes the tracker. The results of the tracking and detection are fused into a single result (a bounding box), and if the result is valid then the learning step is performed to estimate the detector's errors and update the dector.

Dependencies

• C++17
• OpenCV (>=4.2.0)

Usage

To build the project with cmake:

mkdir build
cd build
cmake ..
make

To run it (within the build/ directory):

./my_tld [--input] [--output] [--gt_bboxes] [--evaluate]

Options:

• --input string, input video path (or keyword "camera").
• --output string, output video path (if not specified then no output is produces).
• --gt_bboxes string, path to the file containing ground-truth bounding boxes.
• --evaluate bool (1 or 0), whether to perform evaluation of the tracking or not (gt_bboxes has to be provided).

Examples:

--input="../videos/input_video.mp4"

--input="../Dudek/img/%04d.jpg" --output="../output_video.mp4"  --gt_bboxes="../Dudek/groundtruth_rect.txt" --evaluate=1

--input="cam" --output="../output_video.mp4"

For evaluation we used the tracking benchmark dataset: http://cvlab.hanyang.ac.kr/tracker_benchmark/datasets.html

Results

dancing_robot_out.mp4

Red bbox is the result of the cascade detector (after NMS), purple bbox of the median-flow tracker, green bbox of the fusion of the former two.

References

1. Tracking-Learning-Detection, Z. Kalal, K. Mikolajczyk, J. Matas.
2. Robust Object Tracking Based on Tracking-Learning-Detection, G. Nebehay.

Other imlementations

• https://github.com/zk00006/OpenTLD
• https://github.com/gnebehay/OpenTLD
• https://github.com/benpryke/BPTLD