bytetrack#
Purpose#
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms#
Cite#
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, "ByteTrack: Multi-Object Tracking by Associating Every Detection Box", in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack's authors)
2d tracking modification from original codes#
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs#
bytetrack_node#
Input#
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output#
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer#
Input#
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage |
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output#
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters#
bytetrack_node#
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer#
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits#
Reference repositories#
License#
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.