Bounding Box Detection in Visual Tracking: Measurement Model Parameter Estimation

Common visual tracking algorithms make use of measurement models whose parameters need to be specified. These are, namely, measurement noise covariance related to spatial error of detections provided by a visual detection algorithm, probability of detection, and expected number of clutter detections. The measurement model parameters are often hand selected, using no data-based knowledge. This paper proposes a technique to estimate the parameters by reliably associating detections to annotations in each video frame. The technique is verified on the publicly available MOT-17 dataset.