Tracking Interacting Objects Using Intertwined Flows

In this paper, we show that tracking different kinds of interacting objects can be formulated as a network-flow Mixed Integer Program. This is made possible by tracking all objects simultaneously using intertwined flow variables and expressing the fact that one object can appear or disappear at locations where another is in terms of linear flow constraints. Our proposed method is able to track invisible objects whose only evidence is the presence of other objects that contain them. Furthermore, our tracklet-based implementation yields real-time tracking performance. We demonstrate the power of our approach on scenes involving cars and pedestrians, bags being carried and dropped by people, and balls being passed from one player to the next in team sports. In particular, we show that by estimating jointly and globally the trajectories of different types of objects, the presence of the ones which were not initially detected based solely on image evidence can be inferred from the detections of the others.