Handling unreliable detections and avoiding identity switches are crucial for the success of multiple object tracking (MOT). Ideally, MOT algorithm should use true positive detections only, work in real-time and produce no identity switches. To approach the described ideal solution, we present the BoostTrack, a simple yet effective tracing-by-detection MOT method that utilizes several lightweight plug and play additions to improve MOT performance. We design a detection-tracklet confidence score and use it to scale the similarity measure and implicitly favour high detection confidence and high tracklet confidence pairs in one-stage association. To reduce the ambiguity arising from using intersection over union (IoU), we propose a novel Mahalanobis distance and shape similarity additions to boost the overall similarity measure. To utilize low-detection score bounding boxes in one-stage association, we propose to boost the confidence scores of two groups of detections: the detections we assume to correspond to the existing tracked object, and the detections we assume to correspond to a previously undetected object. The proposed additions are orthogonal to the existing approaches, and we combine them with interpolation and camera motion compensation to achieve results comparable to the standard benchmark solutions while retaining real-time execution speed. When combined with appearance similarity, our method outperforms all standard benchmark solutions on MOT17 and MOT20 datasets. It ranks first among online methods in HOTA metric in the MOT Challenge on MOT17 and MOT20 test sets. We make our code available at https://github.com/vukasin-stanojevic/BoostTrack.

Multiple object tracking (MOT) depends heavily on selection of true positive detected bounding boxes. However, this aspect of the problem is mostly overlooked or mitigated by employing two-stage association and utilizing low confidence detections in the second stage. Recently proposed BoostTrack attempts to avoid the drawbacks of multiple stage association approach and uses low-confidence detections by applying detection confidence boosting. In this paper, we identify the limitations of the confidence boost used in BoostTrack and propose a method to improve its performance. To construct a richer similarity measure and enable a better selection of true positive detections, we propose to use a combination of shape, Mahalanobis distance and novel soft BIoU similarity. We propose a soft detection confidence boost technique which calculates new confidence scores based on the similarity measure and the previous confidence scores, and we introduce varying similarity threshold to account for lower similarity measure between detections and tracklets which are not regularly updated. The proposed additions are mutually independent and can be used in any MOT algorithm. Combined with the BoostTrack+ baseline, our method achieves near state of the art results on the MOT17 dataset and new state of the art HOTA and IDF1 scores on the MOT20 dataset. The source code is available at: https://github.com/vukasin-stanojevic/BoostTrack.

In this work, we consider the problem of calculating the generalized Moore–Penrose inverse, which is essential in many applications of graph theory. We propose an algorithm for the massively parallel systems based on the recursive algorithm for the generalized Moore–Penrose inverse, the generalized Cholesky factorization, and Strassen’s matrix inversion algorithm. Computational experiments with our new algorithm based on a parallel computing architecture known as the Compute Unified Device Architecture (CUDA) on a graphic processing unit (GPU) show the significant advantages of using GPU for large matrices (with millions of elements) in comparison with the CPU implementation from the OpenCV library (Intel, Santa Clara, CA, USA).

Hyper-parameters λ I oU , λ Mh D and λ shape are tuned to work with the original implementation and corrected implementation results in slightly worse results. We provide the corrected versions of Tables 1, 2 and 3 from the paper. Note that even the results of the settings that do not depend on S shape are slightly different from the original paper due to the different Python package versions.