Kalman filter (KF) based methods for multi-object tracking (MOT) make an
assumption that objects move linearly. While this assumption is acceptable for
very short periods of occlusion, linear estimates of motion for prolonged time
can be highly inaccurate. Moreover, when there is no measurement available to
update Kalman filter parameters, the standard convention is to trust the priori
state estimations for posteriori update. This leads to the accumulation of
errors during a period of occlusion. The error causes significant motion
direction variance in practice. In this work, we show that a basic Kalman
filter can still obtain state-of-the-art tracking performance if proper care is
taken to fix the noise accumulated during occlusion. Instead of relying only on
the linear state estimate (i.e., estimation-centric approach), we use object
observations (i.e., the measurements by object detector) to compute a virtual
trajectory over the occlusion period to fix the error accumulation of filter
parameters during the occlusion period. This allows more time steps to correct
errors accumulated during occlusion. We name our method Observation-Centric
SORT (OC-SORT). It remains Simple, Online, and Real-Time but improves
robustness during occlusion and non-linear motion. Given off-the-shelf
detections as input, OC-SORT runs at 700+ FPS on a single CPU. It achieves
state-of-the-art on multiple datasets, including MOT17, MOT20, KITTI, head
tracking, and especially DanceTrack where the object motion is highly
non-linear. The code and models are available at
https://github.com/noahcao/OC_SORT.

本文研究如何改进 Kalman filter 在多目标追踪中的表现，在处理时间比较大的遮挡情况下使用 Observation-Centric SORT 方法才能维护准确度。