Tracking
Here we implements the sort algorithm as our benchmark trackers and use the detection results obtained from here to evaluate.
Preparation
- Download V2XSIM datasets from our website
- Prepare tracking ground truth. You can also download the preprocessed dataset directly from the web page provided above.
make create_data
You might want to consult ./Makefile
for all the arguments you can pass in.
For example, the target for create_data
is:
create_data:
python create_data_com.py --root $(original_data_path) --data $(det_data_path)/$(split) --split $(split) --from_agent $(from_agent) --to_agent $(to_agent) --scene_idxes_file $(scene_idxes_file)
You should at least set original_data_path
to the path of V2X-Sim dataset on your machine, and det_data_path
to the path of the preprocessed detection dataset.
You can set the variables at the top of Makefile
, or you can pass them in as arguments.
For other arguments, please see the comments in Makefile
.
Create seqmaps (required by the SORT codebase):
make create_seqmaps
Evaluation
Run a tracker:
make sort
- You might want to consult
./Makefile
for all the arguments you can pass in
Evaluate tracking results:
make eval
- Results will be stored in
./logs
directory. - You might want to consult
./Makefile
for all the arguments you can pass in
Results
The number in parentheses indicates the performance gain or loss when RSU is involved during training.
Method | MOTA | MOTP | HOTA | DetA | AssA | DetRe | DetPr | AssRe | AssPr | LocA |
---|---|---|---|---|---|---|---|---|---|---|
Lower-bound | 35.72 (-3.87) | 84.16 (-0.74) | 34.27 (-1.68) | 33.64 (-3.24) | 36.18 (-0.06) | 35.07 (-3.54) | 82.49 (+0.96) | 46.70 (+0.23) | 58.72 (+0.10) | 86.43 (+0.38) |
Co-lower-bound | 21.53 (+0.58) | 85.76 (+0.15) | 39.16 (-0.71) | 41.14 (-0.93) | 38.18 (-0.62) | 59.54 (-2.52) | 54.68 (+0.79) | 50.92 (-0.65) | 55.78 (+0.84) | 87.64 (+0.38) |
When2com | 29.48 (+2.45) | 86.10 (-2.79) | 30.94 (+1.01) | 27.90 (+2.04) | 35.33 (+0.06) | 28.67 (+2.58) | 86.11 (-4.81) | 46.30 (-0.15) | 59.20 (-0.36) | 87.98 (-1.98) |
When2com* | 30.17 (+1.43) | 84.95 (-1.44) | 31.34 (+0.43) | 29.11 (+1.05) | 35.42 (+0.21) | 30.28 (+1.32) | 83.81 (+0.29) | 46.65 (-0.29) | 58.61 (+0.18) | 86.14 (+0.17) |
Who2com | 29.48 (+2.46) | 86.10 (-2.79) | 30.94 (+1.01) | 27.90 (+2.04) | 35.33 (+0.06) | 28.67 (+2.58) | 86.11 (-4.81) | 46.30 (-0.15) | 59.20 (-0.36) | 87.98 (-1.98) |
Who2com* | 30.17 (+1.43) | 84.95 (-1.44) | 31.34 (+0.43) | 29.11 (+1.06) | 35.42 (+0.21) | 30.28 (+1.33) | 83.81 (+0.29) | 46.65 (-0.29) | 58.61 (+0.81) | 86.14 (+0.17) |
V2VNet | 55.29 (+2.29) | 85.21 (-0.53) | 43.68 (+0.91) | 50.71 (+1.93) | 38.76 (+0.24) | 53.40 (+2.51) | 84.45 (-1.07) | 50.22 (+0.53) | 58.50 (-0.07) | 87.22 (+0.38) |
DiscoNet | 56.69 (+2.26) | 86.23 (-0.41) | 44.76 (+1.09) | 52.41 (+2.18) | 39.25 (+1.11) | 54.87 (+2.58) | 86.29 (-0.95) | 50.86 (+1.02) | 58.94 (-0.15) | 88.07 (+0.34) |
Upper-bound | 58.00 (+3.92) | 85.61 (+0.25) | 44.83 (+4.24) | 52.94 (+4.24) | 38.95 (-0.75) | 55.07 (+4.68) | 86.54 (-0.30) | 50.35 (-0.86) | 58.71 (+0.15) | 87.48 (+0.06) |