Abstract
Simultaneous tracking of multiple persons in real-world environments is an active research field and several approaches have been proposed, based on a variety of features and algorithms. Recently, there has been a growing interest in organizing systematic evaluations to compare the various techniques. Unfortunately, the lack of common metrics for measuring the performance of multiple object trackers still makes it hard to compare their results. In this work, we introduce two intuitive and general metrics to allow for objective comparison of tracker characteristics, focusing on their precision in estimating object locations, their accuracy in recognizing object configurations and their ability to consistently label objects over time. These metrics have been extensively used in two large-scale international evaluations, the 2006 and 2007 CLEAR evaluations, to measure and compare the performance of multiple object trackers for a wide variety of tracking tasks. Selected performance results are presented and the advantages and drawbacks of the presented metrics are discussed based on the experience gained during the evaluations.
Highlights
The audio-visual tracking of multiple persons is a very active research field with applications in many domains
This paper proposes a thorough procedure to detect the basic types of errors produced by multiple object trackers and introduces two novel metrics, the multiple object tracking precision (MOTP), and the multiple object tracking accuracy (MOTA), that intuitively express a tracker’s overall strengths and are suitable for use in general performance evaluations
In addition to the theoretical framework, we present actual results obtained in two international evaluation workshops, which can be seen as field tests of the proposed metrics
Summary
The audio-visual tracking of multiple persons is a very active research field with applications in many domains. This paper proposes a thorough procedure to detect the basic types of errors produced by multiple object trackers and introduces two novel metrics, the multiple object tracking precision (MOTP), and the multiple object tracking accuracy (MOTA), that intuitively express a tracker’s overall strengths and are suitable for use in general performance evaluations. In addition to the theoretical framework, we present actual results obtained in two international evaluation workshops, which can be seen as field tests of the proposed metrics These evaluation workshops, the classification of events, activities, and relationships (CLEAR) workshops, were held in spring 2006 and 2007 and featured a variety of tracking tasks, including visual 3D person tracking using multiple camera views, 2D face tracking, 2D person and vehicle tracking, acoustic speaker tracking using microphone arrays, and even audio-visual person tracking.
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