Abstract RGB-Thermal (RGB-T) object tracking receives more and more attention due to the strongly complementary benefits of thermal information to visible data. However, RGB-T research is limited by lacking a comprehensive evaluation platform. In this paper, we propose a large-scale video benchmark dataset for RGB-T tracking. It has three major advantages over existing ones: 1) Its size is sufficiently large for large-scale performance evaluation (total number of frames: 234K, maximum number of frames per sequence: 8K). 2) The alignment between RGB-T sequence pairs is highly accurate, which does not need pre- or post-processing. 3) The occlusion levels are annotated for occlusion-sensitive performance analysis of different tracking algorithms. Moreover, we propose a novel graph-based approach to learn a robust object representation for RGB-T tracking. In particular, the tracked object is represented with a graph with image patches as nodes. Given initial weights of nodes, this graph including graph structure, node weights and edge weights is dynamically learned in a unified optimization framework. Extensive experiments on the large-scale dataset are executed to demonstrate the effectiveness of the proposed tracker against other state-of-the-art tracking methods. We also provide new insights and potential research directions to the field of RGB-T object tracking.
There are several popular RGB-T video datasets. OSU-CT dataset @cite_56 contains 6 RGB-T video sequence pairs recorded from two different locations with only people moving, which is obviously not sufficient to evaluate tracking algorithms. Other two RGB-T datasets are collected by @cite_57 @cite_17 . Most of them suffer from limited size, low diversity, and high bias. Li @cite_7 construct a large size RGB-T dataset called RGBT210 with 210 RGB-T pairs. They record videos under a moving platform which enriches much diversity of the dataset, and annotate the challenging attributes for comprehensive evaluation. This dataset, however, has two issues: 1) It lacks the videos captured in hot days, and is thus highly biasd to environmental temperature since thermal sensors are sensitive to temperature. 2) Videos of two modalities share same bounding box annotations, which sometimes are unreasonable due to existence of alignment errors.
@cite_57 @cite_17 @cite_7 @cite_56
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In this paper, we propose a novel graph model, called weighted sparse representation regularized graph, to learn a robust object representation using multispectral (RGB and thermal) data for visual tracking. In particular, the tracked object is represented with a graph with image patches as nodes. This graph is dynamically learned from two aspects. First, the graph affinity (i.e., graph structure and edge weights) that indicates the appearance compatibility of two neighboring nodes is optimized based on the weighted sparse representation, in which the modality weight is introduced to leverage RGB and thermal information adaptively. Second, each node weight that indicates how likely it belongs to the foreground is propagated from others along with graph affinity. The optimized patch weights are then imposed on the extracted RGB and thermal features, and the target object is finally located by adopting the structured SVM algorithm. Moreover, we also contribute a comprehensive dataset for RGB-T tracking purpose. Comparing with existing ones, the new dataset has the following advantages: 1) Its size is sufficiently large for large-scale performance evaluation (total frame number: 210K, maximum frames per video pair: 8K). 2) The alignment between RGB-T video pairs is highly accurate, which does not need pre- and post-processing. 3) The occlusion levels are annotated for analyzing the occlusion-sensitive performance of different methods. Extensive experiments on both public and newly created datasets demonstrate the effectiveness of the proposed tracker against several state-of-the-art tracking methods. This paper investigates how to integrate the complementary information from RGB and thermal (RGB-T) sources for object tracking. We propose a novel Convolutional Neural Network (ConvNet) architecture, including a two-stream ConvNet and a FusionNet, to achieve adaptive fusion of different source data for robust RGB-T tracking. Both RGB and thermal streams extract generic semantic information of the target object. In particular, the thermal stream is pre-trained on the ImageNet dataset to encode rich semantic information, and then fine-tuned using thermal images to capture the specific properties of thermal information. For adaptive fusion of different modalities while avoiding redundant noises, the FusionNet is employed to select most discriminative feature maps from the outputs of the two-stream ConvNet, and updated online to adapt to appearance variations of the target object. Finally, the object locations are efficiently predicted by applying the multi-channel correlation filter on the fused feature maps. Extensive experiments on the recently public benchmark GTOT verify the effectiveness of the proposed approach against other state-of-the-art RGB-T trackers. In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools. Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce Matterport3D, a large-scale RGB-D dataset containing 10,800 panoramic views from 194,400 RGB-D images of 90 building-scale scenes. Annotations are provided with surface reconstructions, camera poses, and 2D and 3D semantic segmentations. The precise global alignment and comprehensive, diverse panoramic set of views over entire buildings enable a variety of supervised and self-supervised computer vision tasks, including keypoint matching, view overlap prediction, normal prediction from color, semantic segmentation, and region classification.