Higher-Order Multiple Object Tracking

Abstract

This dissertation deals with camera-based offline multiple object tracking and explores higher-order data association models. Due to their extensive exploitation of the available information, such models are promising approaches in current research. However, they commonly represent NP-hard optimization problems so that their application in practice is challenging. The first part of this thesis proposes a binary quadratic program that enables to globally fuse signals within a higher-order data association model. This enables to overcome weaknesses of the individual signals. An approximate solver based on the Frank-Wolfe algorithm is presented and analyzed. Its benefit is demonstrated in two setups: fusion of two detectors and combining signals coming from a video and body-worn inertial measurement units. The second part of this thesis proposes an extension of the disjoint path model by higher-order information and connectivity priors, resulting in a binary linear program. Efficient separation algorithms are proposed and integrated into a cutting-plane algorithm, making it possible for the first time to solve higher-order data association globally in practice. Contents 1 Intro...