TGRMPT: A Head-Shoulder Aided Multi-Person Tracker and a New Large-Scale Dataset for Tour-Guide Robot

July 08, 2022 · Entered Twilight · 🏛 IEEE International Conference on Robotics and Biomimetics

Repo contents: .github, .gitignore, LICENSE, README.md, deploy, detection, reid, tracking

Authors Wen Wang, Shunda Hu, Shiqiang Zhu, Wei Song, Zheyuan Lin, Tianlei Jin, Zonghao Mu, Yuanhai Zhou arXiv ID 2207.03726 Category cs.CV: Computer Vision Cross-listed cs.RO Citations 4 Venue IEEE International Conference on Robotics and Biomimetics Repository https://github.com/wenwenzju/TGRMPT ⭐ 10 Last Checked 3 months ago

Abstract

A service robot serving safely and politely needs to track the surrounding people robustly, especially for Tour-Guide Robot (TGR). However, existing multi-object tracking (MOT) or multi-person tracking (MPT) methods are not applicable to TGR for the following reasons: 1. lacking relevant large-scale datasets; 2. lacking applicable metrics to evaluate trackers. In this work, we target the visual perceptual tasks for TGR and present the TGRDB dataset, a novel large-scale multi-person tracking dataset containing roughly 5.6 hours of annotated videos and over 450 long-term trajectories. Besides, we propose a more applicable metric to evaluate trackers using our dataset. As part of our work, we present TGRMPT, a novel MPT system that incorporates information from head shoulder and whole body, and achieves state-of-the-art performance. We have released our codes and dataset in https://github.com/wenwenzju/TGRMPT.