转载自：https://blog.csdn.net/HaoBBNuanMM/article/details/85555547

SORT - SIMPLE ONLINE AND REALTIME TRACKING

概述

解析SORT算法代码

SORT算法的优缺点

Deep SORT - SIMPLE ONLINE AND REALTIME TRACKING WITH A DEEP ASSOCIATION METRIC

关联度量(ASSOCIATION METRIC)

关联算法 Matching Cascade

SORT - SIMPLE ONLINE AND REALTIME TRACKING

  • 论文 http://arxiv.org/pdf/1602.00763.pdf
  • 代码 https://github.com/abewley/sort

概述

SORT算法示意2

SORT跟踪算法到底在干什么？（以单目标跟踪为例说明如下）

  • 假设T1时刻成功跟踪了某个单个物体，ID为1，绘制物体跟踪BBox（紫色）
  • T2时刻物体检测BBox总共有4个（黑色），预测T2时刻物体跟踪的BBox（紫色）有1个，解决紫色物体跟踪BBox如何与黑色物体检测BBox关联的算法，就是SORT物体跟踪算法要解决的核心问题
  • SORT关联两个BBox的核心算法是：用IOU计算Bbox之间的距离 + 匈牙利算法选择最优关联结果

SORT算法示意2

物体跟踪与物体检测是两件不同的事

物体跟踪是把物体跟踪预测的BBox与物体检测的BBox关联，然后用对应的物体检测BBox代表成功跟踪的BBox结果

以上图为例

  • T1时刻已经成功跟踪了3个检体(不同颜色的BBox代表不同的物体ID)
  • T2时刻除了所有物体检测的新位置BBox（灰色），还要物体跟踪预测的Bbox（非灰的其它不同颜色BBox）与物体检测Bbox（灰色）关联，从而分辨出哪一个物体跟踪的Bbox对应哪一个物体检测的BBox，从而产生T2时刻的物体跟踪BBox结果（包括新增物体跟踪器跟踪T2中新检测到的物体）
  • T3时刻如果被追踪的物体发生了遮挡(红框BBox的物体)，那么要继续能找到该物体并追踪 (避免ID Switch)

物体跟踪有几个主要任务以及它们对应的解决方案

  • 检测-深度学习的各种检测网络来实现物体检测
  • 跟踪预测与关联-Tracking的算法来实现物体追踪(比如 本文介绍的SORT)
  • ID Switch- Tracking的算法来解决遮挡物体(比如 deep SORT)
  • ReID(跨摄像头发现和跟踪同一个物体，避免ID switch) -  比如 deep SORT

解析SORT算法代码

代码分析1

代码分析2

算法图示

代码分析3

代码分析4

代码分析5

代码分析6

代码分析7

SORT算法的优缺点

优点 缺点

速度快

对于物体遮挡几乎没有处理，导致ID switch 次数很高

在没有遮挡的情况下准确度很高

有遮挡的情况下准确度很低

SORT是一个很粗糙的跟踪算法，所以又有了Deep SORT

Deep SORT - SIMPLE ONLINE AND REALTIME TRACKING WITH A DEEP ASSOCIATION METRIC

  • 论文: https://arxiv.org/pdf/1703.07402.pdf
  • 代码: https://github.com/nwojke/deep_sort

关联度量(ASSOCIATION METRIC)

  • 计算公式(1) 
  • 马氏距离计算物体检测Bbox dj和物体跟踪BBox yi之间的距离
  • 注：不使用欧式距离的原因是dj和yi 的空间域分布不同，欧式距离忽略空间域分布的计算结果不能准确反映两者的真实距离
  • 当两者距离≤特定阈值，则表示两者关联 
  • 但马氏距离依然不能很好的解决物体被长时间遮挡后关联不正确导致ID Switch的问题
  • 计算公式（2）
  • 物体检测BBox dj 通过CNN网络计算对应的128维feature向量rj 称为appearance descriptor
  • 具体的做法是把物体检测BBox dj  对应的图像patch作为下图的CNN输入，输出128维feature向量rj

Deep Cosine Metric Learning for Person Re-identification
  • 对于跟踪器i，为它创建一个集合保留它过去Lk 次成功跟踪后物体检测Bbox对应的Lk 个Feature向量集合，公式（2）是在计算第i个物体跟踪的所有Feature向量和第j个物体检测之间的最小余弦距离（具体含义参考下图）
  • 当两者距离≤特定阈值，则表示两者关联 

    公式(2)的几何解释
    <p>•<span style="color:#000000;">组合计算公式（</span><span style="color:#000000;">1</span><span style="color:#000000;">）和（</span><span style="color:#000000;">2</span><span style="color:#000000;">）作为计算第</span><span style="color:#000000;">i</span><span style="color:#000000;">个物体跟踪和第</span><span style="color:#000000;">j</span><span style="color:#000000;">个物体检测之间关联度量的总公式</span><img alt="" class="has" height="42" src="https://img-blog.csdnimg.cn/20190101201857219.jpg" width="391"></p><p>•<span style="color:#000000;">组合距离阈值判断不等式，作为总的判断第</span><span style="color:#000000;">i</span><span style="color:#000000;">个物体跟踪和第</span><span style="color:#000000;">j</span><span style="color:#000000;">个物体检测之间的距离（关联度量）是否关联的总公式<img alt="" class="has" height="83" src="https://img-blog.csdnimg.cn/20190101201925745.jpg" width="211"></span></p>
</li>
<li>
<h2 id="%E5%85%B3%E8%81%94%E7%AE%97%E6%B3%95%20Matching%20Cascade"><a name="t6"></a><span style="color:#000000;">关联算法</span><span style="color:#000000;"> Matching Cascade</span></h2>
</li>

T是物体跟踪集合

D是物体检测集合

  1. C矩阵存放所有物体跟踪i与物体检测j之间距离的计算结果
  2. B矩阵存放所有物体跟踪i与物体检测j之间是否关联的判断(0/1)
  3. 关联集合M初始化为{}
  4. 将找不到匹配的物体检测集合初始化为D
  5. 从刚刚匹配成功的跟踪器循环遍历到最多已经有Amax 次没有匹配的跟踪器
  6. 选择满足条件的跟踪器集合Tn
  7. 根据最小成本算法计算出Tn与物体检测j关联成功产生集合[xi,j]
  8. 更新M为匹配成功的（物体跟踪i，物体检测j） 集合
  9. 从U中去除已经匹配成功的物体检测j
  10. 循环
  11. 返回 M U 两个集合
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Deep SORT: Simple Online and Realtime Tracking with a Deep Association Metric

03-17 阅读数 2741

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boss好打随便浪，元宝装备随便爆，真传奇才真的过瘾！

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开局一把刀，神装全靠秒！传奇我就服这款

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这款传奇超刺激，十倍爆率上线送，一刀一怪随便点！

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经典排序算法 - 快速排序Quick sort

经典排序算法 - 桶排序Bucket sort

经典排序算法 - 插入排序Insertion sort

经典排序算法 - 基数排序Radix sor…
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1.目录结构
假设我们要创建一个名为VideoZoom的工程，那么首先按下图构建目录结构…

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最近需要网页添加多个倒计时. 查阅网络,基本上都是千遍一律的不好用. 自己按需写了个.希望对大家有用. 有用请赞一个哦!

//js
…

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来自： Websites

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Docker的三大核心概念：镜像、容器、仓库
镜像：类似虚拟机的镜像、用俗话说就是安装文件。
容器：类似一个轻量…

博文
来自： 我走小路的博客

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/yangbingzhou/article/details/33318625,BlogCommendHotData_8&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/yangbingzhou/article/details/33318625,BlogCommendHotData_8&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/yangbingzhou/article/details/33318625" target="_blank" title="ubuntu下打包制作deb安装包"><h4 class="text-truncate oneline" style="width: 692px;">ubuntu下打包制作deb安装包              </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">06-22</span><span class="read-num hover-hide">阅读数 8805</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/yangbingzhou/article/details/33318625" target="_blank" title="ubuntu下打包制作deb安装包"><span class="desc oneline">最近写了一个小程序，打算做成deb发布，折腾了两天，终于找到了一个简单的deb制作方法

1、首先要编译好程序，获得程序的可执行文件
2、新建一个文件夹，例如在用户目录下新建mydeb文件夹
3、在my…

博文
来自： youngyang的专栏

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/themagickeyjianan/article/details/52386981,BlogCommendHotData_9&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/themagickeyjianan/article/details/52386981,BlogCommendHotData_9&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/themagickeyjianan/article/details/52386981" target="_blank" title="python图片处理类之~PIL.Image模块(ios android icon图标自动生成处理)"><h4 class="text-truncate oneline" style="width: 692px;">python图片处理类之~PIL.Image模块(ios android icon图标自动生成处理)             </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">08-31</span><span class="read-num hover-hide">阅读数 5万+</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/themagickeyjianan/article/details/52386981" target="_blank" title="python图片处理类之~PIL.Image模块(ios android icon图标自动生成处理)"><span class="desc oneline">1.从pyCharm提示下载PIL包

http://www.pythonware.com/products/pil/

2.解压后，进入到目录下

cd /Users/jianan/Dow…

博文
来自： 专注于cocos+unity+服务器全栈

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/zd0303/article/details/7058457,BlogCommendHotData_10&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/zd0303/article/details/7058457,BlogCommendHotData_10&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/zd0303/article/details/7058457" target="_blank" title="MATLAB中注释一段程序"><h4 class="text-truncate oneline" style="width: 692px;">MATLAB中注释一段程序             </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">12-09</span><span class="read-num hover-hide">阅读数 2万+</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/zd0303/article/details/7058457" target="_blank" title="MATLAB中注释一段程序"><span class="desc oneline">在MATLAB中，可以注释一段程序。

使用“%{”和“%}”。
例如
%{
。。。
%}
即可。
经典方法是用 if 0，但缺点是不够直观，注释掉的内容仍然保持代码的颜色。现在可以用
…

博文
来自： 知识小屋

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/qq574857122/article/details/16361033,BlogCommendHotData_11&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/qq574857122/article/details/16361033,BlogCommendHotData_11&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/qq574857122/article/details/16361033" target="_blank" title="强连通分量及缩点tarjan算法解析"><h4 class="text-truncate oneline" style="width: 692px;">强连通分量及缩点tarjan算法解析             </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">11-16</span><span class="read-num hover-hide">阅读数 57万+</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/qq574857122/article/details/16361033" target="_blank" title="强连通分量及缩点tarjan算法解析"><span class="desc oneline">强连通分量：

简言之 就是找环（每条边只走一次，两两可达）
孤立的一个点也是一个连通分量
 
使用tarjan算法 在嵌套的多个环中优先得到最大环( 最小环就是每个孤立点）
 
定义：
int Ti…

博文
来自： 九野的博客

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/gefangshuai/article/details/50328451,BlogCommendHotData_12&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/gefangshuai/article/details/50328451,BlogCommendHotData_12&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/gefangshuai/article/details/50328451" target="_blank" title="关于SpringBoot bean无法注入的问题（与文件包位置有关）"><h4 class="text-truncate oneline" style="width: 692px;">关于SpringBoot bean无法注入的问题（与文件包位置有关）             </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">12-16</span><span class="read-num hover-hide">阅读数 16万+</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/gefangshuai/article/details/50328451" target="_blank" title="关于SpringBoot bean无法注入的问题（与文件包位置有关）"><span class="desc oneline">问题场景描述整个项目通过Maven构建，大致结构如下：

核心Spring框架一个module spring-boot-base
service和dao一个module server-core
提供系统…

博文
来自： 开发随笔

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/tq384998430/article/details/53161192,BlogCommendHotData_13&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/tq384998430/article/details/53161192,BlogCommendHotData_13&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/tq384998430/article/details/53161192" target="_blank" title="使用/dev/mem内存映射的方式操作GPIO口"><h4 class="text-truncate oneline" style="width: 692px;">使用/dev/mem内存映射的方式操作GPIO口             </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">11-14</span><span class="read-num hover-hide">阅读数 6886</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/tq384998430/article/details/53161192" target="_blank" title="使用/dev/mem内存映射的方式操作GPIO口"><span class="desc oneline">使用的是全志H3的芯片，运行Debian Desktop系统的ARM版本Armbian，要控制外部几个IO口，可以使用很多种方法，如果对GPIO的操作速度有要求就需要使用直接操作内存寄存器的方式来控制...</span></a><span class="blog_title_box oneline "><span class="type-show type-show-blog type-show-after">博文</span><a target="_blank" href="https://blog.csdn.net/tq384998430">来自：  <span class="blog_title"> 欢迎光临</span></a></span></p></div></div><div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/yangwei282367751/article/details/52426911,BlogCommendHotData_14&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/yangwei282367751/article/details/52426911,BlogCommendHotData_14&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/yangwei282367751/article/details/52426911" target="_blank" title="关于计算时间复杂度和空间复杂度"><h4 class="text-truncate oneline" style="width: 692px;">关于计算时间复杂度和空间复杂度              </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">09-04</span><span class="read-num hover-hide">阅读数 5万+</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/yangwei282367751/article/details/52426911" target="_blank" title="关于计算时间复杂度和空间复杂度"><span class="desc oneline">相信学习编程的同学，或多或少都接触到算法的时间复杂度和空间复杂度了，那我来讲讲怎么计算。

常用的算法的时间复杂度和空间复杂度 一，求解算法的时间复杂度，其具体步骤是：

⑴ 找出算法…

博文
来自： 杨威的博客

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/king_a_123/article/details/53439801,BlogCommendHotData_15&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/king_a_123/article/details/53439801,BlogCommendHotData_15&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/king_a_123/article/details/53439801" target="_blank" title="MapReduce端的二次排序以及对移动计算而不是移动数据的理解"><h4 class="text-truncate oneline" style="width: 692px;">MapReduce端的二次排序以及对移动计算而不是移动数据的理解                </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">12-02</span><span class="read-num hover-hide">阅读数 1190</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/king_a_123/article/details/53439801" target="_blank" title="MapReduce端的二次排序以及对移动计算而不是移动数据的理解"><span class="desc oneline">，

1.其实MapReduce的二次排序是我们定义的sort排序会执行两遍，第一遍是在map端执行，针对一个map任务的(当partition之后的将数据写入到内存缓冲区的时候，达到内存缓冲区的80…

博文
来自： king_a_123的博客

     <div class="recommend-item-box recommend-box-ident type_blog clearfix" data-track-view="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/VBcom/article/details/7245186,BlogCommendHotData_16&quot;}" data-track-click="{&quot;mod&quot;:&quot;popu_387&quot;,&quot;con&quot;:&quot;,https://blog.csdn.net/VBcom/article/details/7245186,BlogCommendHotData_16&quot;}" data-flg="true"><div class="content" style="width: 852px;"><a href="https://blog.csdn.net/VBcom/article/details/7245186" target="_blank" title="DirectX修复工具增强版"><h4 class="text-truncate oneline" style="width: 692px;">DirectX修复工具增强版              </h4><div class="info-box d-flex align-content-center"><p class="date-and-readNum oneline"><span class="date hover-show">02-09</span><span class="read-num hover-hide">阅读数 192万+</span></p></div></a><p class="content" style="width: 852px;"><a href="https://blog.csdn.net/VBcom/article/details/7245186" target="_blank" title="DirectX修复工具增强版"><span class="desc oneline">最后更新：2018-12-20

DirectX修复工具最新版：DirectX Repair V3.8 增强版  NEW!

版本号：V3.8.0.11638

大小: 107MB/7z格式压缩，18…

博文
来自： VBcom的专栏

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