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Трекинг объектов по видео: как мы повышали точность, снижали ресурсоемкость, и к каким изменениям в продукте это привело

Привет! Мы в Macroscop разрабатываем ПО для систем видеонаблюдения, которое умеет распознавать автономера, чекать спецодежду на рабочих, детектировать по видео задымленность и возгорания и решать еще около 20 задач, касающихся анализа видео.
Один из фокусов нашей команды - разработка собственной видеоаналитики, а также постоянное ее улучшение, выражающееся в росте точности, функциональности и производительности.

Пару месяцев назад мы выпустили новую версию ПО, в которой в том числе значительно обновился нейросетевой модуль трекинга, отслеживающий траектории перемещения объектов, пересечение контрольных линий и длительное пребывание в охраняемых зонах.
Необходимость модернизации трекинга назрела, потому что за годы, прошедшие с момента разработки предыдущей версии, к нему накопился ряд пожеланий. Часть из них касалась повышения точности работы, часть - производительности модуля.
Возникла задача, обычно вызывающая холодный пот у разработчика: сделать так, чтобы трекинг работал точнее и при этом - быстрее.

К счастью, причины указанных проблем скрывались в разных частях алгоритма трекинга и были в большой степени независимы друг от друга. В результате нам удалось добиться повышения точности модуля при одновременном снижении затрат вычислительных ресурсов. А как мы это сделали- расскажем дальше.

Все смешалось – люди, кони кошки...

Первая сложность, связанная с точностью, лежала внутри обученного нами детектора-классификатора (YOLO), который обнаруживает в кадре объекты интересующих нас классов: транспорт разных типов, люди, животные. Выражалась она довольно специфическим образом: некоторые животные, особенно кошки и собаки, в определенных ракурсах (вид со спины и видны задние лапы, направленные параллельно туловищу) классифицировались как люди.

Кошка, ошибочно определяемая как человек
Кошка, ошибочно определяемая как человек

Недолгое расследование вывело нас на виновника ошибок - обучающий датасет. Причина крылась в том, что у очень маленьких изображений людей, попавших в исходную разметку, ноги оставались самым значимым признаком, позволявшим отличить их от большинства других объектов, но не от кошек/собак в указанном ракурсе. И вот таких изображений кошек/собак не было в достаточном количестве в датасете, на котором была обучена предыдущая версия нашего детектора-классификатора.
Тогда мы дополнили датасет недостающими изображениями животных в «опасных» позах и провели переобучение. Контрольные замеры после этого подтвердили решение проблемы с путаницей.

Дополнительно в ходе переобучения мы решили облегчить задачу нейросетевому детектору и сократить количество классов объектов, которые он определяет. Мы убрали часть классов животных, присутствовавших в обучающем датасете, но скрытых в пользовательской истории. И 10 классов животных, в которые входили в том числе, например, жирафы и слоны, были объединены в два: звери и птицы. Это позволило еще больше повысить точность классификации.

И в результате переобучения детектора-классификатора на расширенном датасете с сокращением количества классов, точность модуля выросла, количество ложных срабатываний сократилось, а проблема с путаницей кошек, собак и людей -решилась.

Одним выстрелом – двух зайцев

Следующая важная задача заключалась в повышении стабильности трекинга, особенно в тех случаях, когда объекты в ходе своего движения перекрывались преградами. Ранее при таких условиях траектория могла обрываться, что нарушало общий процесс анализа.

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И, наконец, мы стремились к оптимизации его производительности - снижению потребления вычислительных ресурсов.

Оценив фронт работ, пришли к выводу, что трекинг требует глобальной перестройки и полной замены алгоритма работы.

Ранее для отслеживания объектов мы использовали трекер MOSSE. Он обладает многими достоинствами - устойчив к изменениям освещения, масштаба объекта, позы и т.д., но в нашем случае дает хорошую точность отслеживания, только когда объект перемещается между соседними кадрами незначительно (примерно на половину своего размера), что приводит к необходимости анализировать кадры с высокой частотой.
Кроме того, MOSSE нельзя назвать легковесным решением: под капотом — преобразования Фурье и другие ресурсоемкие вычисления, что приводит к существенной нагрузке на процессор. В результате трекинг с MOSSE требовал либо мощного оборудования, либо ограничивал количество одновременно обрабатываемых видеопотоков.

Изучив проблему под разными углами, мы решили, что снизить вычислительную нагрузку можно за счет уменьшения частоты обработки кадров. Но MOSSE не позволял сделать это с сохранением высокой точности.
Кроме MOSSE для нашего трекинга потенциально подходили следующие алгоритмы: SORT - Simple Online Realtime Tracking и его вариации (DeepSORT, ByteTrack, OC-SORT и др.), DCF, вариации трекингов на сиамских нейросетях (SiamFC,SiamRPN и др.).
Но вновь ни один из готовых вариантов не обеспечивал достаточной точности при низком fps. Поэтому мы взяли за основу один из существующих алгоритмов и значительно его модернизировали, адаптировав к работе с видео невысокой частоты кадров.

В результате обновленный алгоритм позволил точно отслеживать объекты даже при их перекрытии или изменении позы, решить проблему разрывов траекторий, снизить требования к fps видеопотока и значительно уменьшить вычислительную нагрузку на систему.

Улучшение трекинга – больше, чем просто трекинг

Обновление классификатора и алгоритма повлияло не только на трекинг, но и «задело» другие модули видеоанализа.

В нашем продукте есть несколько интеллектуальных функций, которые в своей работе решают схожие с трекингом задачи и частично используют его алгоритмы: обнаруживают объект в кадре > следят за ним некоторое время > набирают статистику > генерируют срабатывание.
Это модули контроля спецодежды, поиска объектов, обнаружения спецтранспорта. И замена в них соответствующих алгоритмов на обновленные из трекинга также дали свои положительные плоды: модуль контроля спецодежды вырос по точности и производительности, а модули поиска объектов и обнаружения спецтранспорта – по производительности (от 2 до 3,5 раз по сравнению с предыдущими версиями).

Локальное улучшение – системный эффект

Так модернизация одного конкретного модуля повлекла за собой цепную реакцию положительных изменений продукта. Кажется, в такие моменты и проявляется тот самый кайф инженерной работы: когда локальное улучшение оказывает системный эффект.

Впереди ещё много направлений, в которых хочется и будем копать глубже, развивать подходы и экспериментировать. Постараемся держать вас в курсе и не забывать рассказывать здесь о наших успехах и промахах.

А пока - пусть ваша видеоаналитика будет точной, а кошки и люди – никогда не теряются 🐾

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    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 12.10.25 19:53 Tonerdomark

    A crook swiped my Dogecoin. It ruined my whole world. Then Mr. Sylvester showed up. He fixed it all. He pulled back €211,000 for me. Not one cent missing from my profits. His steady cool and sharp tech know-how won back my trust. I got my money smooth and sound. After endless worry, relief hit me hard. I trusted him completely. Lost cash to a scam? Hit him up now at { yt7cracker@gmail . com }. His aid turned my life around. WhatsApp at +1 512 577 7957.

  • 12.10.25 21:36 blessing

    Writing this review is a joy. Marie has provided excellent service ever since I started working with her in early 2018. I was worried I wouldn't be able to get my coins back after they were stolen by hackers. I had no idea where to begin, therefore it was a nightmare for me. However, things became easier for me after my friend sent me to [email protected] and +1 7127594675 on WhatsApp. I'm happy that she was able to retrieve my bitcoin so that I could resume trading.

  • 13.10.25 01:11 elizabethrush89

    God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 13.10.25 01:11 elizabethrush89

    God bless Capital Crypto Recover Services for the marvelous work you did in my life, I have learned the hard way that even the most sensible investors can fall victim to scams. When my USD was stolen, for anyone who has fallen victim to one of the bitcoin binary investment scams that are currently ongoing, I felt betrayal and upset. But then I was reading a post on site when I saw a testimony of Wendy Taylor online who recommended that Capital Crypto Recovery has helped her recover scammed funds within 24 hours. after reaching out to this cyber security firm that was able to help me recover my stolen digital assets and bitcoin. I’m genuinely blown away by their amazing service and professionalism. I never imagined I’d be able to get my money back until I complained to Capital Crypto Recovery Services about my difficulties and gave all of the necessary paperwork. I was astounded that it took them 12 hours to reclaim my stolen money back. Without a doubt, my USDT assets were successfully recovered from the scam platform, Thank you so much Sir, I strongly recommend Capital Crypto Recover for any of your bitcoin recovery, digital funds recovery, hacking, and cybersecurity concerns. You reach them Call/Text Number +1 (336)390-6684 His Email: [email protected] Contact Telegram: @Capitalcryptorecover Via Contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 14.10.25 01:15 tyleradams

    Hi. Please be wise, do not make the same mistake I had made in the past, I was a victim of bitcoin scam, I saw a glamorous review showering praises and marketing an investment firm, I reached out to them on what their contracts are, and I invested $28,000, which I was promised to get my first 15% profit in weeks, when it’s time to get my profits, I got to know the company was bogus, they kept asking me to invest more and I ran out of patience then requested to have my money back, they refused to answer nor refund my funds, not until a friend of mine introduced me to the NVIDIA TECH HACKERS, so I reached out and after tabling my complaints, they were swift to action and within 36 hours I got back my funds with the due profit. I couldn’t contain the joy in me. I urge you guys to reach out to NVIDIA TECH HACKERS on their email: [email protected]

  • 14.10.25 08:46 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 14.10.25 08:46 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 14.10.25 08:46 robertalfred175

    CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: 📧 Email: [email protected] 📱 Telegram: @Capitalcryptorecover Contact: [email protected] 📞 Call/Text: +1 (336) 390-6684 🌐 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 15.10.25 18:07 crypto

    Cryptocurrency's digital realm presents many opportunities, but it also conceals complex frauds. It is quite painful to lose your cryptocurrency to scam. You can feel harassed and lost as a result. If you have been the victim of a cryptocurrency scam, this guide explains what to do ASAP. Following these procedures will help you avoid further issues or get your money back. Communication with Marie ([email protected] and WhatsApp: +1 7127594675) can make all the difference.

  • 15.10.25 21:52 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

  • 15.10.25 21:52 harristhomas7376

    "In the crypto world, this is great news I want to share. Last year, I fell victim to a scam disguised as a safe investment option. I have invested in crypto trading platforms for about 10yrs thinking I was ensuring myself a retirement income, only to find that all my assets were either frozen, I believed my assets were secure — until I discovered that my BTC funds had been frozen and withdrawals were impossible. It was a devastating moment when I realized I had been scammed, and I thought my Bitcoin was gone forever, Everything changed when a close friend recommended the Capital Crypto Recover Service. Their professionalism, expertise, and dedication enabled me to recover my lost Bitcoin funds back — more than €560.000 DEM to my BTC wallet. What once felt impossible became a reality thanks to their support. If you have lost Bitcoin through scams, hacking, failed withdrawals, or similar challenges, don’t lose hope. I strongly recommend Capital Crypto Recover Service to anyone seeking a reliable and effective solution for recovering any wallet assets. They have a proven track record of successful reputation in recovering lost password assets for their clients and can help you navigate the process of recovering your funds. Don’t let scammers get away with your hard-earned money – contact Email: [email protected] Phone CALL/Text Number: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1

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