Simple Human Tracking and Trajectory Prediction

This repository presents simple approach for human tracking and trajectory prediction based on human keypoint detection and Kalman filter.

Hardware

Cuda compatible video card: this repository is tested on RTX 2080Ti

Software

Please check the docker/Dockerfile.

Getting started

The sole task of this project is to demonstrate how human detection with linear Kalman filtering can be combined into tracking and trajectory prediction. Here are some examples:

Every n seconds future trajectories for head or neck are predicted and drawn on current frame.

To reproduce these results go to next sections.

Install Docker

Thirst of all install Docker:

sudo apt install docker.io

After that install nvidia-docker v2.0:

sudo apt-get install nvidia-docker2
sudo pkill -SIGHUP dockerd

Build Docker Image

cd docker 
sudo docker build . -t sawseen/pytorch_cv:pose_forecaster
cd ..

Or alternatively use make:

make build

Head detection

If you want to track and predict trajectories based on head detection you need to download
checkpoint and put it into checkpoints/ folder of current project.

Settings

The settings are located in configs/config.yaml file.

MAIN:
  SEED: 42
  HEAD_DETECTION: True

DETECTING:
  HEAD_CONFIG_FILE_PATH: './configs/head_cascade_rcnn_dconv_c3-c5_r50_fpn_1x.py'
  HEAD_CHECKPOINT_FILE_PATH: './models/cascade_epoch_11.pth'
  SCORE_THRESHOLD: 0.75
  NMS_IOU_THRESHOLD: 0.2

TRACKING:
  STATE_NOISE: 1000.0
  R_SCALE: 5.0
  Q_VAR: 100.0
  IOU_THRESHOLD: 0.1
  MAX_MISSES: 6
  MIN_HITS: 2

OUTPUT_VIDEO:
  CYCLE_LEN: 2
  BLOB_SIZE: 4
  LINE_WIDTH: 8
  FPS: 16
  MIN_AGE_FOR_TRAJECTORY: 12
  DRAW_BOX: True
  COMPRESS: False

1. MAIN section consists of SEED for reproducibility and HEAD_DETECTION whether to use model trained on human heads.

2. DETECTING describe how detections are made. HEAD_CONFIG_FILE_PATH and HEAD_CHECKPOINT_FILE_PATH are required for head detection model. SCORE_THRESHOLD is a detection threshold, while NMS_IOU_THRESHOLD is an intersection over union threshold for non-maximum suppression.

3. TRACKING is responsible for tracking parameters. STATE_NOISE, R_SCALE, Q_VAR are Kalman filter parameters. IOU_THRESHOLD is an intersection over union threshold for assuming whether detection and predicted state of current tracker are matched. MAX_MISSES is a parameter that tells how long a tracker will live without any matched detections. MIN_HITS is a parameter that tells minimum number of frames for a tracker to be drawn.

4. OUTPUT_VIDEO specifies parameters of the output video. CYCLE_LEN is a period of predicted trajectory in seconds. BLOB_SIZE and LINE_WIDTH are sizes of blob around human anchor point and trajectory line in pixels. FPS is a desired frames per second for output video. MIN_AGE_FOR_TRAJECTORY is a minimum age for tracker in seconds for trajectory to be drawn. DRAW_BOX states whether to draw bounding boxes around objects. You can use COMPRESS to enable output video compression.

Demo

To start working in container run the following commands:

make run 
make exec 

Currently demo.py works only with videos in a current folder.

To process your video launch demo.py with specified arguments:

python demo.py input_video.mp4 --output-video output_video.mp4 --prediction-length 2.0 --head-detection --draw-boxes

Where:

• output-video: output video file name,
• prediction-length: length of trajectories in seconds (overrides config parameter),
• head-detection: flag whether to detect heads (overrides config parameter),
• draw-boxes: flag whether to draw bounding boxes around objects.

After you have done working stop and remove container:

make stop