mr_sort

Simple, online, and realtime tracking for mobile robot

by Park JaeHun

Introduction

Multiple object tracking suitable for mobile robots using the two methods below.

1. Calibration camera rotation using wheel encoder based odometry information
2. Dynamically set the tracker's life period : If tracker have been tracking for a long time, keep it alive longer.

Environments

• Ubuntu 20.04
• ROS noetic
• OpenVINO 2021.3.394
• OpenCV 4.5.2-openvino
• Numpy 1.17.3

Install

$ git clone https://github.com/MilyangParkJaeHun/mr_sort.git
$ cd mr_sort
$ git submodule init
$ git submodule update

Demo Run

1. Downloads PxRx sequence dataset

$ cd /path/to/mr_sort/data
$ source source data_downloads.sh

2. Run

$ python3 mr_sort.py --seq_path=data --display

Using different detection model quantized by OpenVINO

• A example of using SSDLite-MobileNet model

  $ cd /path/to/mr_sort/openvino_detector/IR/Ssd
  $ source model_downloads.sh
  $ cd /path/to/mr_sort/openvino_detector
  $ python3 mot_detector.py --model_type=ssd \
                            --model_path=IR/Ssd/ssdlite_coco \
                            --img_path=../tracker/data \
                            --device=CPU --display
  

For more information, see here

Using in your own project

Below is the gist of how to use mr_sort. See the 'main' section of mr_sort.py for a complete example.

from mr_sort import *

#create instance of MR_SORT
mot_tracker = MrSort() 

# get detections
...

# get odometry
# odometry is [th(degree), x, y] format array
...

# update MR_SORT
track_bbs_ids = mot_tracker.update(detections, odometry)

# track_bbs_ids is a np array where each row contains a valid bounding box and track_id (last column)
...

Reference

SORT : https://github.com/abewley/sort