We formulate tracking as an online decision-making process, where a tracking agent must follow an object despite ambiguous image frames and a limited computational budget. Crucially, the agent must decide where to look in the upcoming frames, when to reinitialize because it believes the target has been lost, and when to update its appearance model for the tracked object. Such decisions are typically made heuristically. Instead, we propose to learn an optimal decision-making policy by formulating tracking as a partially observable decision-making process (POMDP). We learn policies with deep reinforcement learning algorithms that need supervision (a reward signal) only when the track has gone awry. We demonstrate that sparse rewards allow us to quickly train on massive datasets, several orders of magnitude more than past work. Interestingly, by treating the data source of Internet videos as unlimited streams, we both learn and evaluate our trackers in a single, unified computational stream.
An interesting (but perhaps unsurprising) phenomenon is that better trackers tend to be slower @cite_29 . Indeed, on the VOT benchmark, most recent trackers do not run in real time. Generally, trackers that search locally @cite_52 @cite_9 run faster than those that search globally @cite_17 @cite_22 @cite_24 . To optimize visual recognition efficiency, one can learn a policy to guide selective search or attention. Inspired by recent work which finds a policy for selective search using RL @cite_33 @cite_16 @cite_5 @cite_37 @cite_11 @cite_6 @cite_40 , we also learn a policy that decides whether to track ( , search positions near the previous estimate) or reinitialize ( , search globally over the entire image). But in contrast to this prior work, we additionally learn a policy to decide when to update a tracker's appearance model. To ensure that our tracker operates with a fixed computational budget, we implement reinitialization by searching over a random subset of positions (equal in number to those examined by track).
@cite_37 @cite_11 @cite_22 @cite_33 @cite_9 @cite_29 @cite_52 @cite_6 @cite_24 @cite_40 @cite_5 @cite_16 @cite_17
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Survival depends on successfully foraging for food, for which evolution has selected diverse behaviors in different species. Humans forage not only for food, but also for information. We decide where to look over 170,000 times per day, approximately three times per wakeful second. The frequency of these saccadic eye movements belies the complexity underlying each individual choice. Experience factors into the choice of where to look and can be invoked to rapidly redirect gaze in a context and task-appropriate manner. However, remarkably little is known about how individuals learn to direct their gaze given the current context and task. We designed a task in which participants search a novel scene for a target whose location was drawn stochastically on each trial from a fixed prior distribution. The target was invisible on a blank screen, and the participants were rewarded when they fixated the hidden target location. In just a few trials, participants rapidly found the hidden targets by looking near previously rewarded locations and avoiding previously unrewarded locations. Learning trajectories were well characterized by a simple reinforcement-learning (RL) model that maintained and continually updated a reward map of locations. The RL model made further predictions concerning sensitivity to recent experience that were confirmed by the data. The asymptotic performance of both the participants and the RL model approached optimal performance characterized by an ideal-observer theory. These two complementary levels of explanation show how experience in a novel environment drives visual search in humans and may extend to other forms of search such as animal foraging. We present an attention-based modular neural framework for computer vision. The framework uses a soft attention mechanism allowing models to be trained with gradient descent. It consists of three modules: a recurrent attention module controlling where to look in an image or video frame, a feature-extraction module providing a representation of what is seen, and an objective module formalizing why the model learns its attentive behavior. The attention module allows the model to focus computation on task-related information in the input. We apply the framework to several object tracking tasks and explore various design choices. We experiment with three data sets, bouncing ball, moving digits and the real-world KTH data set. The proposed RATM performs well on all three tasks and can generalize to related but previously unseen sequences from a challenging tracking data set. The Visual Object Tracking challenge VOT2016 aims at comparing short-term single-object visual trackers that do not apply pre-learned models of object appearance. Results of 70 trackers are presented, with a large number of trackers being published at major computer vision conferences and journals in the recent years. The number of tested state-of-the-art trackers makes the VOT 2016 the largest and most challenging benchmark on short-term tracking to date. For each participating tracker, a short description is provided in the Appendix. The VOT2016 goes beyond its predecessors by (i) introducing a new semi-automatic ground truth bounding box annotation methodology and (ii) extending the evaluation system with the no-reset experiment. The dataset, the evaluation kit as well as the results are publicly available at the challenge website (http: votchallenge.net). Tracking-by-detection approaches are some of the most successful object trackers in recent years. Their success is largely determined by the detector model they learn initially and then update over time. However, under challenging conditions where an object can undergo transformations, e.g., severe rotation, these methods are found to be lacking. In this paper, we address this problem by formulating it as a proposal selection task and making two contributions. The first one is introducing novel proposals estimated from the geometric transformations undergone by the object, and building a rich candidate set for predicting the object location. The second one is devising a novel selection strategy using multiple cues, i.e., detection score and edgeness score computed from state-of-the-art object edges and motion boundaries. We extensively evaluate our approach on the visual object tracking 2014 challenge and online tracking benchmark datasets, and show the best performance. One of the most widely used strategies for visual object detection is based on exhaustive spatial hypothesis search. While methods like sliding windows have been successful and effective for many years, they are still brute-force, independent of the image content and the visual category being searched. In this paper we present principled sequential models that accumulate evidence collected at a small set of image locations in order to detect visual objects effectively. By formulating sequential search as reinforcement learning of the search policy (including the stopping condition), our fully trainable model can explicitly balance for each class, specifically, the conflicting goals of exploration – sampling more image regions for better accuracy –, and exploitation – stopping the search efficiently when sufficiently confident about the target's location. The methodology is general and applicable to any detector response function. We report encouraging results in the PASCAL VOC 2012 object detection test set showing that the proposed methodology achieves almost two orders of magnitude speed-up over sliding window methods. This work provides a framework for learning sequential attention in real-world visual object recognition, using an architecture of three processing stages. The first stage rejects irrelevant local descriptors based on an information theoretic saliency measure, providing candidates for foci of interest (FOI). The second stage investigates the information in the FOI using a codebook matcher and providing weak object hypotheses. The third stage integrates local information via shifts of attention, resulting in chains of descriptor-action pairs that characterize object discrimination. A Q-learner adapts then from explorative search and evaluative feedback from entropy decreases on the attention sequences, eventually prioritizing shifts that lead to a geometry of descriptor-action scanpaths that is highly discriminative with respect to object recognition. The methodology is successfully evaluated on indoors (COIL-20 database) and outdoors (TSG-20 database) imagery, demonstrating significant impact by learning, outperforming standard local descriptor based methods both in recognition accuracy and processing time.