Siamese-DETR for Generic Multi-Object Tracking

Abstract

The ability to detect and track the dynamic objects in different scenes is fundamental to real-world applications, e.g., autonomous driving and robot navigation. However, traditional Multi-Object Tracking (MOT) is limited to track objects belonging to the pre-defined closed-set categories. Recently, Generic MOT (GMOT) is proposed to track interested objects beyond pre-defined categories and it can be divided into Open-Vocabulary MOT (OVMOT) and Template-Image-based MOT (TIMOT). Taking the consideration that the expensive well pre-trained (vision-)language model and fine-grained category annotations are required to train OVMOT models, in this paper, we focus on TIMOT and propose a simple but effective method, Siamese-DETR. Only the commonly used detection datasets (e.g., COCO) are required for training. Different from existing TIMOT methods, which train a Single Object Tracking (SOT) based detector to detect interested objects and then apply a data association based MOT tracker to get the trajectories, we leverage the inherent object queries in DETR variants. Specifically: 1) The multi-scale object queries are designed based on the given template image, which are effective for detecting different scales of objects with the same category as the template image; 2) A dynamic matching training strategy is introduced to train Siamese-DETR on commonly used detection datasets, which takes full advantage of provided annotations; 3) The online tracking pipeline is simplified through a tracking-by-query manner by incorporating the tracked boxes in the previous frame as additional query boxes. The complex data association is replaced with the much simpler Non-Maximum Suppression (NMS). Extensive experimental results show that Siamese-DETR surpasses existing MOT methods on GMOT-40 dataset by a large margin.