OC-SORT
Observation-Centric SORT (arXiv 2203.14360, CVPR 2023). Extends SORT with three observation-centric mechanisms that reduce drift during occlusions:
- OCV computes velocity from consecutive detections rather than the Kalman state.
- OCM adds a direction-consistency bonus before matching: a candidate whose direction from the track’s last observation aligns with the track’s velocity gets a higher effective IoU.
- ORU corrects the Kalman filter after re-association by replaying interpolated observations between the last seen position and the current detection.
No appearance features required, making it a strong upgrade over SORT when occlusions are common but Re-ID is unavailable.
#![allow(unused)]
fn main() {
use trackforge::trackers::ocsort::OcSort;
let mut tracker = OcSort::new(30, 3, 0.3, 3, 0.2);
let tracks = tracker.update(vec![([100.0, 100.0, 50.0, 100.0], 0.9, 0)]);
for t in tracks {
println!("ID: {}, Box: {:?}", t.track_id, t.tlwh);
}
}Parameters
| Parameter | Default | Description |
|---|---|---|
max_age | 30 | Frames to keep a lost track alive before deletion |
min_hits | 3 | Consecutive matched frames required to confirm a track |
iou_threshold | 0.3 | Minimum IoU to associate a detection with a track |
delta_t | 3 | Observation window (frames) used to compute velocity (OCV) |
inertia | 0.2 | Weight of the direction-consistency cost bonus (OCM) |
Tuning: raise max_age for long occlusions; raise delta_t for smoother velocity at the cost
of responsiveness; raise inertia toward 1.0 for near-constant-velocity motion, lower it for
erratic motion.