SiamKPN

Pytorch implementation of our paper Siamese Keypoint Prediction Network for Visual Object Tracking.
Contact: qinke87@gmail.com

Intorduction

In this paper, we propose the Siamese keypoint prediction network (SiamKPN). Upon a Siamese backbone for feature embedding, SiamKPN benefits from a cascade heatmap strategy for coarseto-fine prediction modeling.

Main Results

Results on OTB-100

Traker	AUC	Pre	Var decay	Speed	Model
SiamKPN-1s	0.687	0.906	Yes	40FPS	link
SiamKPN-2s	0.702	0.916	Yes	32FPS	link
SiamKPN-3s	0.712	0.927	Yes	24FPS	link
SiamKPN-3s	0.705	0.916	No	24FPS	link

Results on VOT2018

Traker	EAO	A	R	Var decay	Speed	Model
SiamKPN-1s	0.413	0.584	0.229	Yes	40FPS	link
SiamKPN-2s	0.428	0.595	0.211	Yes	32FPS	link
SiamKPN-3s	0.440	0.605	0.187	Yes	24FPS	link

Note:

• Speed tested on GTX-1080Ti.
• SiamKPN-1s refers to SiamKPN with one stage and so on.
• SiamKPN models on OTB-100 were trained with 20% random gray splits.
• We use modified ResNet-50 as the backbone model link.
• Models Extraction Code: gw6s

Usage

Please find installation instructions in INSTALL.md.

Add SiamKPN to your PYTHONPATH

export PYTHONPATH=/path/to/SiamKPN:$PYTHONPATH

Train

• Please prepare training datasets and testing datasets refer to pysot.
• Change the dataset paths to yours in pysot/datasets/dataset.py, tools/test.py and tools/eval.py.

Take the usage of SiamKPN-3s_VOT as an example.

cd experiments/siamkpn_r50_stack3_difstd
CUDA_VISIBLE_DEVICES=0,1,2,3
python -m torch.distributed.launch \
    --nproc_per_node=4 \
    ../../tools/train.py --cfg config.yaml > logs/train.log

Test

python ../../tools/test.py \
    --snapshot siamkpn-3s_vot.pth \
    --config config.yaml \
    --dataset VOT2018 

Eval

python ../../tools/eval.py   \
    --tracker_path ./results \
    --dataset VOT2018

Hyper-parameters Search

A two-level grid search is employed to find the best configuration.

for k in 0 1 2 3; do {
    for i in 0 1; do {
        echo "GPU $k, task $i"
        CUDA_VISIBLE_DEVICES=$k python -u ../../tools/hp_search_epoch.py \
                --start-epoch 11 \
                --end-epoch 12 \
        --penalty-k 0.0,0.5,0.1 \
        --window-influence 0.3,0.8,0.1 \
        --lr 0.3,0.8,0.1 \
        --config config.yaml \
        --dataset VOT2018
    } &
    done
    wait $!
} &
done
wait $!

Acknowledgement

Our code is based on pysot.

We claim SiamKPN is the first to consider the anchor-free scheme in the Siamese paradigm for object tracking as we submitted our paper to CVPR 2020 in November 2019, though unfortunately get rejected. Concurrently, there were four other trackers considering the anchor-free scheme.

• FCAF(paper)
• SiamFC++(paper)
• SiamBAN(paper|code)
• FCOT(paper|code)

Apart from the same motivation, SiamKPN has its own characteristics. In particular, SiamKPN considered the cascade strategy for the anchor-free scheme to handle background distractors during tracking.

Citation

@article{Li_2020_SiamKPN,  
  title={Siamese Keypoint Prediction Network for Visual Object Tracking},  
  author={Li, Qiang and Qin, Zekui and Zhang, Wenbo and Zheng, Wen},  
  journal={arXiv preprint arXiv:2006.04078},  
  year={2020}  
}