LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking —–Supplementary Material—– Table 1. Details of 70 object categories in LaSOT and comparison with existing dense benchmark. Best viewed when zoomed-in. NUS-PRO [4] OTB-2015 [7] TC-128 [5] UAV123 [6] VOT-17 [3] NfS [2] LaSOT class # entries class # entries class # entries class # entries class # entries class # entries class # entries person 193 person 36 person 45 person 48 person 19 ball 21 airplane 20 head 60 head 26 head 16 car 30 head 5 person 20 basketball 20 car 31 car 12 sphere 8 drone 10 fish 4 animal 10 bear 20 airplane 20 toy 8 2D print 5 wakeboard 10 motorcycle 4 vehicle 9 bicycle 20 boat 20 2D print 4 bicycle 5 boat 9 car 3 shuffeboard 8 bird 20 helicopter 20 cuboid 3 car 5 building 5 drone 3 face 6 boat 20 motorcycle 20 bird 2 ball 4 truck 5 ant 2 cup 4 book 20 drone 1 motorcycle 1 toy 4 bicycle 3 ball 2 dollar 4 bottle 20 - - deer 1 hand 3 bird 3 bird 2 aircraft 4 bus 20 - - bottle 1 kite 3 - - toy 2 airboard 2 car 20 - - panda 1 logo 3 - - bag 1 fish 2 cat 20 - - board 1 cuboid 3 - - book 1 motorcycle 2 cattle 20 - - can 1 boat 2 - - butterfly 1 drone 2 chameleon 20 - - dog 1 cup 2 - - cable 1 bicycle 2 coin 20 - - transformer 1 fish 2 - - crab 1 bird 2 crab 20 - - bicycle 1 guitar 2 - - cat 1 bag 1 crocodile 20 - - - - bird 2 - - flamingo 1 yoyo 1 cup 20 - - - - microphone 2 - - frisbee 1 - - deer 20 - - - - torso 2 - - glove 1 - - dog 20 - - - - motorcycle 2 - - hand 1 - - drone 20 - - - - airplane 2 - - helicopter 1 - - electricFan 20 - - - - board 1 - - leaf 1 - - elephant 20 - - - - bottle 1 - - rabbit 1 - - flag 20 - - - - can 1 - - sheep 1 - - fox 20 - - - - deer 1 - - - - - - frog 20 - - - - ring 1 - - - - - - gameTarget 20 - - - - torus 1 - - - - - - gecko 20 - - - - - - - - - - - - giraffe 20 - - - - - - - - - - - - goldfish 20 - - - - - - - - - - - - gorilla 20 - - - - - - - - - - - - guitar 20 - - - - - - - - - - - - hand 20 - - - - - - - - - - - - hat 20 - - - - - - - - - - - - helmet 20 - - - - - - - - - - - - hippo 20 - - - - - - - - - - - - horse 20 - - - - - - - - - - - - kangaroo 20 - - - - - - - - - - - - kite 20 - - - - - - - - - - - - leopard 20 - - - - - - - - - - - - licensePlate 20 - - - - - - - - - - - - lion 20 - - - - - - - - - - - - lizard 20 - - - - - - - - - - - - microphone 20 - - - - - - - - - - - - monkey 20 - - - - - - - - - - - - motorcycle 20 - - - - - - - - - - - - mouse 20 - - - - - - - - - - - - person 20 - - - - - - - - - - - - pig 20 - - - - - - - - - - - - pool 20 - - - - - - - - - - - - rabbit 20 - - - - - - - - - - - - racing 20 - - - - - - - - - - - - robot 20 - - - - - - - - - - - - rubicCube 20 - - - - - - - - - - - - sepia 20 - - - - - - - - - - - - shark 20 - - - - - - - - - - - - shark 20 - - - - - - - - - - - - sheep 20 - - - - - - - - - - - - skateboard 20 - - - - - - - - - - - - spider 20 - - - - - - - - - - - - squirrel 20 - - - - - - - - - - - - surfboard 20 - - - - - - - - - - - - swing 20 - - - - - - - - - - - - tank 20 - - - - - - - - - - - - tiger 20 - - - - - - - - - - - - train 20 - - - - - - - - - - - - truck 20 - - - - - - - - - - - - turtle 20 - - - - - - - - - - - - umbrella 20 - - - - - - - - - - - - volleyball 20 - - - - - - - - - - - - yoyo 20
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LaSOT: A High-quality Benchmark for Large-scale Single Object Tracking—–Supplementary Material—–
Table 1. Details of 70 object categories in LaSOT and comparison with existing dense benchmark. Best viewed when zoomed-in.NUS-PRO [4] OTB-2015 [7] TC-128 [5] UAV123 [6] VOT-17 [3] NfS [2] LaSOT
class # entries class # entries class # entries class # entries class # entries class # entries class # entries
person 193 person 36 person 45 person 48 person 19 ball 21 airplane 20head 60 head 26 head 16 car 30 head 5 person 20 basketball 20car 31 car 12 sphere 8 drone 10 fish 4 animal 10 bear 20
airplane 20 toy 8 2D print 5 wakeboard 10 motorcycle 4 vehicle 9 bicycle 20boat 20 2D print 4 bicycle 5 boat 9 car 3 shuffeboard 8 bird 20
helicopter 20 cuboid 3 car 5 building 5 drone 3 face 6 boat 20motorcycle 20 bird 2 ball 4 truck 5 ant 2 cup 4 book 20
drone 1 motorcycle 1 toy 4 bicycle 3 ball 2 dollar 4 bottle 20- - deer 1 hand 3 bird 3 bird 2 aircraft 4 bus 20- - bottle 1 kite 3 - - toy 2 airboard 2 car 20- - panda 1 logo 3 - - bag 1 fish 2 cat 20- - board 1 cuboid 3 - - book 1 motorcycle 2 cattle 20- - can 1 boat 2 - - butterfly 1 drone 2 chameleon 20- - dog 1 cup 2 - - cable 1 bicycle 2 coin 20- - transformer 1 fish 2 - - crab 1 bird 2 crab 20- - bicycle 1 guitar 2 - - cat 1 bag 1 crocodile 20- - - - bird 2 - - flamingo 1 yoyo 1 cup 20- - - - microphone 2 - - frisbee 1 - - deer 20- - - - torso 2 - - glove 1 - - dog 20- - - - motorcycle 2 - - hand 1 - - drone 20- - - - airplane 2 - - helicopter 1 - - electricFan 20- - - - board 1 - - leaf 1 - - elephant 20- - - - bottle 1 - - rabbit 1 - - flag 20- - - - can 1 - - sheep 1 - - fox 20- - - - deer 1 - - - - - - frog 20- - - - ring 1 - - - - - - gameTarget 20- - - - torus 1 - - - - - - gecko 20- - - - - - - - - - - - giraffe 20- - - - - - - - - - - - goldfish 20- - - - - - - - - - - - gorilla 20- - - - - - - - - - - - guitar 20- - - - - - - - - - - - hand 20- - - - - - - - - - - - hat 20- - - - - - - - - - - - helmet 20- - - - - - - - - - - - hippo 20- - - - - - - - - - - - horse 20- - - - - - - - - - - - kangaroo 20- - - - - - - - - - - - kite 20- - - - - - - - - - - - leopard 20- - - - - - - - - - - - licensePlate 20- - - - - - - - - - - - lion 20- - - - - - - - - - - - lizard 20- - - - - - - - - - - - microphone 20- - - - - - - - - - - - monkey 20- - - - - - - - - - - - motorcycle 20- - - - - - - - - - - - mouse 20- - - - - - - - - - - - person 20- - - - - - - - - - - - pig 20- - - - - - - - - - - - pool 20- - - - - - - - - - - - rabbit 20- - - - - - - - - - - - racing 20- - - - - - - - - - - - robot 20- - - - - - - - - - - - rubicCube 20- - - - - - - - - - - - sepia 20- - - - - - - - - - - - shark 20- - - - - - - - - - - - shark 20- - - - - - - - - - - - sheep 20- - - - - - - - - - - - skateboard 20- - - - - - - - - - - - spider 20- - - - - - - - - - - - squirrel 20- - - - - - - - - - - - surfboard 20- - - - - - - - - - - - swing 20- - - - - - - - - - - - tank 20- - - - - - - - - - - - tiger 20- - - - - - - - - - - - train 20- - - - - - - - - - - - truck 20- - - - - - - - - - - - turtle 20- - - - - - - - - - - - umbrella 20- - - - - - - - - - - - volleyball 20- - - - - - - - - - - - yoyo 20
1. Details of 70 Object Categories in LaSOT and Comparison with Existing Dense BenchmarksLaSOT consists of 70 object categories with each containing 20 videos, as shown in Tab. 1. Most of 70 classes are chosen
form the 1,000 classes in ImageNet [1], with a few exceptions such as drone and gametarget, which are carefully selectedby the experts for tracking. The selection of each category must be agreed upon by all the experts to ensure its usability forvisual tracking. In addition, we also compare the object categories of different dense benchmarks. As shown in Tab. 1, thenumber of object categories in LaSOT is two times more than that of existing benchmarks (e.g., TC-128 [5] with 27 classes).Moreover, LaSOT eliminates the category bias of dataset for tracking while others do not.
2. Traing/Testing Split in Protocol IIIn protocol II, we split LaSOT into training and testing sets. The training set contains of 1,120 videos (i.e., 16 sequences
for each category) with 2.83M frames in total. The rest 280 videos (i.e., 4 sequences for each category) with 690K framesare used for testing.
Table 2. Comparison between training and testing sets of LaSOT.Video Min frames Mean frames Median frames Max frames Total frames Total duration
LaSOTtraining 1,120 1,000 2,529 2,043 11,397 2.83M 26.2 hours
LaSOTtesting 280 1,000 2,448 2,102 9,999 690K 6.3 hours
LaSOT 1,400 1,000 2,506 2,053 11,397 3.52M 32.5 hours
Figure 1. Comparison of sequence distribution in each attribute between training and testing sets. Best viewed in color.
Tab. 2 reports the detailed comparison between the training and the testing sets of LaSOT. We observe that the min frames,mean frames, median frames and max frames are similar between these two subsets. In addition, as shown in Fig. 1, we cansee that the ratios of sequences in all 14 attributes are similar. Both Tab. 2 and Fig. 1 evidence the consistency of ourtraining/testing split.
3. Detailed Attribute-based Performance under Protocol IFig. 2 shows the performance of trackers on each attribute using precision under protocol I.
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Precision plots of OPE - Aspect Ration Change (1201)
[0.337] VITAL
[0.336] MDNet
[0.312] SiamFC
[0.309] StructSiam
[0.300] DSiam
[0.268] SINT
[0.255] ECO
[0.249] STRCF
[0.233] ECO_HC
[0.224] CFNet
[0.215] HCFT
[0.200] BACF
[0.199] PTAV
[0.197] MEEM
[0.197] TRACA
[0.195] CSRDCF
[0.192] Staple
[0.191] Staple_CA
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[0.162] LCT
[0.159] DSST
[0.156] Struck
[0.155] TLD
[0.155] SCT4
[0.152] fDSST
[0.151] KCF
[0.134] ASLA
[0.129] CN
[0.123] L1APG
[0.111] STC
[0.109] CSK
[0.102] IVT
[0.089] CT
[0.069] MIL
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Precision plots of OPE - Background Clutter (434)
[0.340] MDNet
[0.335] VITAL
[0.305] StructSiam
[0.300] SiamFC
[0.293] DSiam
[0.282] ECO
[0.276] STRCF
[0.272] SINT
[0.258] ECO_HC
[0.246] HCFT
[0.244] CFNet
[0.236] BACF
[0.231] PTAV
[0.230] TRACA
[0.229] SRDCF
[0.225] Staple
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[0.200] LCT
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[0.186] fDSST
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[0.177] Struck
[0.160] ASLA
[0.158] CN
[0.157] L1APG
[0.137] CSK
[0.136] STC
[0.123] IVT
[0.098] CT
[0.079] MIL
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Precision plots of OPE - Camera Motion (433)
[0.398] MDNet
[0.398] VITAL
[0.367] SiamFC
[0.364] StructSiam
[0.343] DSiam
[0.310] STRCF
[0.310] ECO
[0.302] SINT
[0.290] ECO_HC
[0.277] CFNet
[0.266] HCFT
[0.261] BACF
[0.256] PTAV
[0.252] Staple
[0.251] TRACA
[0.247] Staple_CA
[0.238] CSRDCF
[0.236] SAMF
[0.233] SRDCF
[0.232] MEEM
[0.201] LCT
[0.198] DSST
[0.195] SCT4
[0.193] KCF
[0.190] fDSST
[0.189] TLD
[0.178] Struck
[0.158] L1APG
[0.153] ASLA
[0.149] CN
[0.134] CSK
[0.133] IVT
[0.133] STC
[0.108] CT
[0.082] MIL
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Precision plots of OPE - Deformation (725)
[0.295] SiamFC
[0.293] MDNet
[0.290] VITAL
[0.289] StructSiam
[0.280] DSiam
[0.226] SINT
[0.207] STRCF
[0.196] CFNet
[0.192] ECO
[0.191] HCFT
[0.181] ECO_HC
[0.173] BACF
[0.172] Staple_CA
[0.167] CSRDCF
[0.165] TRACA
[0.163] Staple
[0.158] MEEM
[0.154] PTAV
[0.150] SAMF
[0.136] Struck
[0.136] SRDCF
[0.132] DSST
[0.130] LCT
[0.124] SCT4
[0.123] KCF
[0.119] ASLA
[0.114] L1APG
[0.108] fDSST
[0.104] CN
[0.102] TLD
[0.096] CSK
[0.095] IVT
[0.093] STC
[0.082] CT
[0.059] MIL
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Precision plots of OPE - Fast Motion (296)
[0.287] MDNet
[0.279] VITAL
[0.249] SINT
[0.240] StructSiam
[0.234] ECO
[0.233] DSiam
[0.232] SiamFC
[0.211] ECO_HC
[0.200] STRCF
[0.189] TLD
[0.184] MEEM
[0.176] HCFT
[0.173] CFNet
[0.171] PTAV
[0.157] CSRDCF
[0.156] BACF
[0.153] SRDCF
[0.145] TRACA
[0.142] Staple
[0.135] Staple_CA
[0.129] LCT
[0.128] SAMF
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[0.122] Struck
[0.120] SCT4
[0.114] DSST
[0.110] KCF
[0.092] CN
[0.086] ASLA
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[0.062] IVT
[0.062] CT
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Precision plots of OPE - Full Occlusion (542)
[0.309] VITAL
[0.305] MDNet
[0.271] StructSiam
[0.269] DSiam
[0.265] SiamFC
[0.256] SINT
[0.244] ECO
[0.223] STRCF
[0.220] ECO_HC
[0.202] MEEM
[0.194] HCFT
[0.193] CFNet
[0.187] TRACA
[0.182] PTAV
[0.180] SRDCF
[0.178] TLD
[0.168] BACF
[0.167] CSRDCF
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[0.163] Staple_CA
[0.159] SAMF
[0.157] LCT
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[0.145] fDSST
[0.144] Struck
[0.137] KCF
[0.131] DSST
[0.125] ASLA
[0.114] CN
[0.113] L1APG
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[0.088] IVT
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Precision plots of OPE - Illumination Variation (224)
[0.390] VITAL
[0.381] MDNet
[0.365] StructSiam
[0.355] DSiam
[0.351] SiamFC
[0.348] STRCF
[0.332] ECO
[0.322] CFNet
[0.308] SINT
[0.307] ECO_HC
[0.305] BACF
[0.289] SRDCF
[0.283] PTAV
[0.277] CSRDCF
[0.271] Staple
[0.269] TRACA
[0.269] HCFT
[0.266] Staple_CA
[0.249] SAMF
[0.245] DSST
[0.239] fDSST
[0.229] KCF
[0.229] MEEM
[0.222] LCT
[0.207] SCT4
[0.205] L1APG
[0.195] TLD
[0.194] ASLA
[0.188] Struck
[0.184] CN
[0.155] STC
[0.152] IVT
[0.149] CSK
[0.103] CT
[0.071] MIL
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Precision plots of OPE - Low Resolution (661)
[0.377] VITAL
[0.376] MDNet
[0.324] StructSiam
[0.324] SiamFC
[0.322] DSiam
[0.311] ECO
[0.301] SINT
[0.278] STRCF
[0.272] ECO_HC
[0.242] PTAV
[0.241] MEEM
[0.240] HCFT
[0.239] CFNet
[0.223] CSRDCF
[0.219] TLD
[0.218] BACF
[0.216] TRACA
[0.213] SRDCF
[0.210] Staple
[0.201] Staple_CA
[0.188] SAMF
[0.184] Struck
[0.182] LCT
[0.181] fDSST
[0.173] SCT4
[0.168] DSST
[0.161] KCF
[0.150] ASLA
[0.146] CN
[0.128] L1APG
[0.123] STC
[0.112] CSK
[0.098] CT
[0.094] IVT
[0.082] MIL
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Precision plots of OPE - Motion Blur (449)
[0.335] MDNet
[0.330] VITAL
[0.302] SiamFC
[0.297] StructSiam
[0.285] DSiam
[0.268] SINT
[0.249] STRCF
[0.249] ECO
[0.232] ECO_HC
[0.209] HCFT
[0.204] CFNet
[0.202] BACF
[0.201] PTAV
[0.198] Staple
[0.198] MEEM
[0.195] Staple_CA
[0.187] CSRDCF
[0.185] TRACA
[0.181] SRDCF
[0.179] SAMF
[0.162] LCT
[0.161] TLD
[0.159] DSST
[0.155] SCT4
[0.152] KCF
[0.145] fDSST
[0.143] Struck
[0.123] CN
[0.114] L1APG
[0.112] ASLA
[0.104] STC
[0.099] CSK
[0.099] IVT
[0.081] CT
[0.062] MIL
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Precision plots of OPE - Out-of-View (477)
[0.284] MDNet
[0.282] VITAL
[0.258] StructSiam
[0.246] SiamFC
[0.238] DSiam
[0.225] SINT
[0.209] ECO
[0.202] STRCF
[0.188] ECO_HC
[0.173] HCFT
[0.167] MEEM
[0.166] CFNet
[0.159] PTAV
[0.156] CSRDCF
[0.154] TRACA
[0.150] BACF
[0.149] SRDCF
[0.148] Staple
[0.146] TLD
[0.144] SAMF
[0.139] Staple_CA
[0.133] LCT
[0.123] fDSST
[0.121] SCT4
[0.120] Struck
[0.114] DSST
[0.113] KCF
[0.104] CN
[0.096] ASLA
[0.093] STC
[0.091] L1APG
[0.082] CSK
[0.072] CT
[0.071] IVT
[0.060] MIL
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Precision plots of OPE - Partial Occlusion (913)
[0.325] MDNet
[0.325] VITAL
[0.296] SiamFC
[0.294] StructSiam
[0.287] DSiam
[0.263] SINT
[0.259] ECO
[0.248] STRCF
[0.229] ECO_HC
[0.226] CFNet
[0.218] HCFT
[0.204] TRACA
[0.198] PTAV
[0.197] BACF
[0.197] SRDCF
[0.196] Staple
[0.196] MEEM
[0.196] Staple_CA
[0.188] CSRDCF
[0.184] SAMF
[0.170] LCT
[0.165] fDSST
[0.163] SCT4
[0.163] DSST
[0.159] TLD
[0.154] KCF
[0.151] Struck
[0.144] ASLA
[0.134] CN
[0.131] L1APG
[0.120] STC
[0.117] CSK
[0.111] IVT
[0.086] CT
[0.067] MIL
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Precision plots of OPE - Rotation (812)
[0.340] VITAL
[0.337] MDNet
[0.311] SiamFC
[0.308] StructSiam
[0.302] DSiam
[0.273] SINT
[0.242] ECO
[0.242] STRCF
[0.222] ECO_HC
[0.215] CFNet
[0.214] HCFT
[0.197] MEEM
[0.196] PTAV
[0.194] BACF
[0.191] TRACA
[0.191] Staple_CA
[0.190] CSRDCF
[0.184] Staple
[0.175] SAMF
[0.174] SRDCF
[0.164] Struck
[0.154] LCT
[0.153] SCT4
[0.149] fDSST
[0.148] DSST
[0.144] KCF
[0.143] TLD
[0.137] ASLA
[0.128] CN
[0.121] L1APG
[0.114] STC
[0.112] CSK
[0.104] IVT
[0.088] CT
[0.068] MIL
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Precision plots of OPE - Scale Variation (1321)
[0.369] MDNet
[0.366] VITAL
[0.338] SiamFC
[0.336] StructSiam
[0.326] DSiam
[0.289] ECO
[0.289] SINT
[0.281] STRCF
[0.263] ECO_HC
[0.255] CFNet
[0.237] HCFT
[0.234] PTAV
[0.231] BACF
[0.228] TRACA
[0.223] CSRDCF
[0.222] Staple
[0.221] Staple_CA
[0.217] SRDCF
[0.214] MEEM
[0.206] SAMF
[0.187] DSST
[0.184] LCT
[0.184] fDSST
[0.175] TLD
[0.174] SCT4
[0.174] KCF
[0.173] Struck
[0.161] ASLA
[0.150] CN
[0.146] L1APG
[0.132] STC
[0.128] CSK
[0.121] IVT
[0.097] CT
[0.076] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Viewpoint Change (153)
[0.411] MDNet
[0.407] VITAL
[0.368] SiamFC
[0.362] ECO
[0.356] StructSiam
[0.347] DSiam
[0.322] STRCF
[0.305] ECO_HC
[0.301] CFNet
[0.299] SINT
[0.277] TRACA
[0.275] SRDCF
[0.267] PTAV
[0.266] CSRDCF
[0.261] BACF
[0.258] Staple
[0.248] HCFT
[0.248] MEEM
[0.244] fDSST
[0.243] Staple_CA
[0.241] DSST
[0.232] SAMF
[0.216] TLD
[0.208] Struck
[0.202] KCF
[0.201] ASLA
[0.201] LCT
[0.201] CN
[0.185] L1APG
[0.179] SCT4
[0.164] CSK
[0.155] STC
[0.145] IVT
[0.115] CT
[0.073] MIL
Figure 2. Performance of trackers on each attribute using precision under protocol I. Best viewed in color.
Fig. 3 shows the performance of trackers on each attribute using normalized precision under protocol I.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Aspect Ration Change (1201)
[0.447] VITAL
[0.445] MDNet
[0.420] SiamFC
[0.413] StructSiam
[0.402] DSiam
[0.354] SINT
[0.309] ECO
[0.307] STRCF
[0.288] CFNet
[0.284] ECO_HC
[0.275] HCFT
[0.271] MEEM
[0.261] BACF
[0.255] Staple
[0.255] TRACA
[0.255] Staple_CA
[0.240] CSRDCF
[0.235] PTAV
[0.232] SRDCF
[0.231] SAMF
[0.209] LCT
[0.199] DSST
[0.197] SCT4
[0.196] TLD
[0.195] Struck
[0.192] KCF
[0.190] fDSST
[0.174] ASLA
[0.161] CN
[0.159] L1APG
[0.144] CSK
[0.144] STC
[0.142] IVT
[0.129] CT
[0.106] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Background Clutter (434)
[0.416] MDNet
[0.410] VITAL
[0.384] StructSiam
[0.376] SiamFC
[0.365] DSiam
[0.332] SINT
[0.330] ECO
[0.327] STRCF
[0.303] CFNet
[0.295] ECO_HC
[0.287] BACF
[0.287] HCFT
[0.278] TRACA
[0.273] Staple_CA
[0.273] Staple
[0.268] MEEM
[0.264] SRDCF
[0.261] PTAV
[0.258] SAMF
[0.252] CSRDCF
[0.239] LCT
[0.225] DSST
[0.221] fDSST
[0.216] SCT4
[0.215] KCF
[0.209] Struck
[0.206] TLD
[0.191] ASLA
[0.187] CN
[0.177] L1APG
[0.168] CSK
[0.163] STC
[0.153] IVT
[0.120] CT
[0.094] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Camera Motion (433)
[0.528] MDNet
[0.520] VITAL
[0.486] SiamFC
[0.478] StructSiam
[0.467] DSiam
[0.397] SINT
[0.389] ECO
[0.389] STRCF
[0.364] CFNet
[0.360] ECO_HC
[0.355] HCFT
[0.341] BACF
[0.333] TRACA
[0.331] Staple_CA
[0.329] Staple
[0.319] MEEM
[0.310] PTAV
[0.306] SAMF
[0.305] CSRDCF
[0.301] SRDCF
[0.260] LCT
[0.259] DSST
[0.255] KCF
[0.252] SCT4
[0.248] fDSST
[0.236] TLD
[0.225] Struck
[0.205] L1APG
[0.200] CN
[0.189] ASLA
[0.181] CSK
[0.178] IVT
[0.176] STC
[0.148] CT
[0.114] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Deformation (725)
[0.461] SiamFC
[0.458] VITAL
[0.458] MDNet
[0.450] StructSiam
[0.437] DSiam
[0.369] SINT
[0.307] CFNet
[0.307] STRCF
[0.299] HCFT
[0.290] ECO
[0.270] Staple_CA
[0.268] MEEM
[0.267] ECO_HC
[0.266] BACF
[0.258] TRACA
[0.256] Staple
[0.250] CSRDCF
[0.237] SAMF
[0.218] PTAV
[0.211] SRDCF
[0.207] Struck
[0.202] LCT
[0.197] DSST
[0.195] SCT4
[0.191] KCF
[0.181] ASLA
[0.176] L1APG
[0.173] TLD
[0.170] fDSST
[0.159] CN
[0.154] IVT
[0.148] CSK
[0.147] STC
[0.144] CT
[0.117] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Fast Motion (296)
[0.295] VITAL
[0.293] MDNet
[0.255] StructSiam
[0.252] DSiam
[0.248] SiamFC
[0.229] ECO
[0.229] SINT
[0.205] STRCF
[0.195] ECO_HC
[0.184] MEEM
[0.167] CFNet
[0.159] BACF
[0.158] HCFT
[0.157] PTAV
[0.153] TLD
[0.150] SRDCF
[0.148] TRACA
[0.143] CSRDCF
[0.142] Staple
[0.141] Staple_CA
[0.130] SAMF
[0.125] LCT
[0.123] fDSST
[0.114] SCT4
[0.113] DSST
[0.103] KCF
[0.102] Struck
[0.091] ASLA
[0.090] CN
[0.080] L1APG
[0.078] CSK
[0.071] STC
[0.067] IVT
[0.055] CT
[0.051] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Full Occlusion (542)
[0.349] VITAL
[0.346] MDNet
[0.313] StructSiam
[0.306] SiamFC
[0.306] DSiam
[0.281] SINT
[0.254] ECO
[0.238] STRCF
[0.230] ECO_HC
[0.225] MEEM
[0.207] TRACA
[0.206] CFNet
[0.196] HCFT
[0.193] SRDCF
[0.187] BACF
[0.185] PTAV
[0.180] Staple
[0.179] Staple_CA
[0.178] TLD
[0.175] CSRDCF
[0.172] SAMF
[0.167] LCT
[0.161] SCT4
[0.152] fDSST
[0.148] Struck
[0.147] KCF
[0.142] DSST
[0.140] ASLA
[0.124] CN
[0.121] L1APG
[0.105] CSK
[0.103] IVT
[0.103] STC
[0.091] CT
[0.071] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Illumination Variation (224)
[0.534] VITAL
[0.522] MDNet
[0.489] StructSiam
[0.482] DSiam
[0.470] SiamFC
[0.421] STRCF
[0.407] ECO
[0.401] CFNet
[0.399] SINT
[0.383] BACF
[0.377] ECO_HC
[0.343] SRDCF
[0.342] Staple_CA
[0.341] Staple
[0.340] HCFT
[0.339] TRACA
[0.330] CSRDCF
[0.323] PTAV
[0.313] MEEM
[0.311] SAMF
[0.292] DSST
[0.281] fDSST
[0.274] KCF
[0.270] LCT
[0.261] SCT4
[0.249] Struck
[0.245] L1APG
[0.243] ASLA
[0.239] TLD
[0.222] CN
[0.202] IVT
[0.188] CSK
[0.181] STC
[0.141] CT
[0.110] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Low Resolution (661)
[0.367] VITAL
[0.364] MDNet
[0.320] DSiam
[0.320] SiamFC
[0.319] StructSiam
[0.280] ECO
[0.274] SINT
[0.257] STRCF
[0.234] ECO_HC
[0.213] CFNet
[0.207] MEEM
[0.203] BACF
[0.202] PTAV
[0.196] TRACA
[0.195] HCFT
[0.195] SRDCF
[0.192] Staple
[0.187] Staple_CA
[0.181] CSRDCF
[0.169] TLD
[0.163] SAMF
[0.156] LCT
[0.155] fDSST
[0.146] Struck
[0.145] DSST
[0.143] SCT4
[0.135] ASLA
[0.134] KCF
[0.123] CN
[0.117] L1APG
[0.101] STC
[0.101] CSK
[0.087] IVT
[0.078] CT
[0.063] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Motion Blur (449)
[0.448] VITAL
[0.443] MDNet
[0.412] SiamFC
[0.401] StructSiam
[0.387] DSiam
[0.352] SINT
[0.315] STRCF
[0.313] ECO
[0.289] ECO_HC
[0.280] HCFT
[0.278] CFNet
[0.273] MEEM
[0.271] BACF
[0.267] Staple_CA
[0.265] Staple
[0.256] TRACA
[0.243] CSRDCF
[0.240] PTAV
[0.236] SAMF
[0.234] SRDCF
[0.211] LCT
[0.205] DSST
[0.200] SCT4
[0.194] KCF
[0.191] TLD
[0.189] fDSST
[0.181] Struck
[0.161] CN
[0.156] L1APG
[0.141] ASLA
[0.139] CSK
[0.138] STC
[0.133] IVT
[0.112] CT
[0.092] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Out-of-View (477)
[0.358] VITAL
[0.357] MDNet
[0.330] StructSiam
[0.321] SiamFC
[0.311] DSiam
[0.279] SINT
[0.240] ECO
[0.236] STRCF
[0.211] MEEM
[0.209] ECO_HC
[0.203] CFNet
[0.195] HCFT
[0.185] TRACA
[0.183] BACF
[0.177] Staple
[0.174] SRDCF
[0.171] PTAV
[0.170] Staple_CA
[0.168] CSRDCF
[0.162] SAMF
[0.160] TLD
[0.154] LCT
[0.142] fDSST
[0.135] DSST
[0.135] SCT4
[0.135] Struck
[0.131] KCF
[0.114] CN
[0.111] ASLA
[0.110] L1APG
[0.101] STC
[0.098] CSK
[0.090] IVT
[0.082] CT
[0.072] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Partial Occlusion (913)
[0.435] VITAL
[0.431] MDNet
[0.402] SiamFC
[0.399] StructSiam
[0.385] DSiam
[0.350] SINT
[0.315] ECO
[0.306] STRCF
[0.287] CFNet
[0.285] ECO_HC
[0.281] HCFT
[0.272] MEEM
[0.262] TRACA
[0.259] Staple_CA
[0.259] BACF
[0.255] Staple
[0.244] PTAV
[0.243] SRDCF
[0.241] CSRDCF
[0.237] SAMF
[0.219] LCT
[0.209] SCT4
[0.207] fDSST
[0.205] DSST
[0.203] TLD
[0.199] KCF
[0.195] Struck
[0.183] ASLA
[0.169] CN
[0.165] L1APG
[0.153] CSK
[0.150] STC
[0.148] IVT
[0.126] CT
[0.107] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Rotation (812)
[0.441] VITAL
[0.436] MDNet
[0.409] SiamFC
[0.401] StructSiam
[0.393] DSiam
[0.356] SINT
[0.291] ECO
[0.289] STRCF
[0.271] CFNet
[0.265] HCFT
[0.264] ECO_HC
[0.262] MEEM
[0.246] Staple_CA
[0.243] BACF
[0.239] Staple
[0.238] TRACA
[0.228] CSRDCF
[0.219] PTAV
[0.217] SAMF
[0.209] SRDCF
[0.195] Struck
[0.193] LCT
[0.185] SCT4
[0.181] TLD
[0.179] DSST
[0.178] fDSST
[0.176] KCF
[0.166] ASLA
[0.151] L1APG
[0.151] CN
[0.140] STC
[0.139] CSK
[0.137] IVT
[0.123] CT
[0.102] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Scale Variation (1321)
[0.474] VITAL
[0.474] MDNet
[0.441] SiamFC
[0.436] StructSiam
[0.425] DSiam
[0.369] SINT
[0.344] ECO
[0.339] STRCF
[0.316] CFNet
[0.313] ECO_HC
[0.294] HCFT
[0.294] BACF
[0.283] TRACA
[0.283] Staple_CA
[0.283] MEEM
[0.283] Staple
[0.269] PTAV
[0.267] CSRDCF
[0.264] SRDCF
[0.255] SAMF
[0.227] LCT
[0.225] DSST
[0.222] fDSST
[0.214] SCT4
[0.213] TLD
[0.212] KCF
[0.212] Struck
[0.200] ASLA
[0.183] L1APG
[0.181] CN
[0.162] STC
[0.161] CSK
[0.160] IVT
[0.134] CT
[0.110] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Viewpoint Change (153)
[0.509] MDNet
[0.505] VITAL
[0.462] SiamFC
[0.439] StructSiam
[0.438] DSiam
[0.418] ECO
[0.366] SINT
[0.365] STRCF
[0.363] CFNet
[0.349] ECO_HC
[0.341] BACF
[0.338] SRDCF
[0.332] Staple
[0.329] TRACA
[0.312] Staple_CA
[0.300] PTAV
[0.291] SAMF
[0.288] MEEM
[0.287] CSRDCF
[0.285] fDSST
[0.281] HCFT
[0.273] DSST
[0.262] ASLA
[0.244] LCT
[0.244] TLD
[0.236] KCF
[0.235] Struck
[0.225] L1APG
[0.223] SCT4
[0.211] CN
[0.198] IVT
[0.181] CSK
[0.179] STC
[0.150] CT
[0.104] MIL
Figure 3. Performance of trackers on each attribute using precision under protocol I. Best viewed in color.
Fig. 4 shows the performance of trackers on each attribute using success under protocol I.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Aspect Ration Change (1201)
[0.387] MDNet
[0.384] VITAL
[0.336] SiamFC
[0.333] StructSiam
[0.329] DSiam
[0.319] SINT
[0.302] ECO
[0.279] ECO_HC
[0.277] STRCF
[0.266] CFNet
[0.261] MEEM
[0.254] TRACA
[0.250] HCFT
[0.244] BACF
[0.235] Staple
[0.234] CSRDCF
[0.233] SRDCF
[0.232] PTAV
[0.231] SAMF
[0.228] Staple_CA
[0.218] LCT
[0.213] Struck
[0.205] TLD
[0.201] DSST
[0.195] fDSST
[0.191] SCT4
[0.187] KCF
[0.181] ASLA
[0.164] CT
[0.162] CN
[0.152] MIL
[0.151] CSK
[0.140] L1APG
[0.132] STC
[0.111] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Background Clutter (434)
[0.368] MDNet
[0.359] VITAL
[0.319] StructSiam
[0.314] DSiam
[0.311] SiamFC
[0.311] ECO
[0.300] SINT
[0.292] STRCF
[0.280] ECO_HC
[0.268] CFNet
[0.265] TRACA
[0.258] BACF
[0.258] MEEM
[0.255] SRDCF
[0.252] HCFT
[0.245] Staple
[0.244] PTAV
[0.243] Staple_CA
[0.242] SAMF
[0.240] CSRDCF
[0.235] LCT
[0.216] DSST
[0.215] Struck
[0.213] fDSST
[0.210] TLD
[0.205] SCT4
[0.199] KCF
[0.195] ASLA
[0.178] CN
[0.167] CSK
[0.159] CT
[0.152] L1APG
[0.144] MIL
[0.143] STC
[0.123] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Camera Motion (433)
[0.439] MDNet
[0.436] VITAL
[0.376] SiamFC
[0.374] StructSiam
[0.371] DSiam
[0.361] ECO
[0.344] SINT
[0.341] STRCF
[0.335] ECO_HC
[0.322] CFNet
[0.313] TRACA
[0.301] BACF
[0.288] Staple
[0.287] SRDCF
[0.285] PTAV
[0.284] Staple_CA
[0.284] HCFT
[0.284] CSRDCF
[0.283] MEEM
[0.280] SAMF
[0.261] LCT
[0.247] DSST
[0.240] fDSST
[0.235] TLD
[0.229] Struck
[0.220] SCT4
[0.218] KCF
[0.193] ASLA
[0.187] CN
[0.181] CT
[0.174] L1APG
[0.173] CSK
[0.164] MIL
[0.150] STC
[0.137] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Deformation (725)
[0.407] MDNet
[0.401] VITAL
[0.371] SiamFC
[0.365] StructSiam
[0.361] DSiam
[0.339] SINT
[0.296] ECO
[0.289] CFNet
[0.284] STRCF
[0.278] ECO_HC
[0.276] MEEM
[0.271] HCFT
[0.266] TRACA
[0.260] BACF
[0.248] CSRDCF
[0.247] SAMF
[0.245] Staple
[0.245] Staple_CA
[0.233] Struck
[0.227] PTAV
[0.226] SRDCF
[0.225] LCT
[0.208] DSST
[0.201] SCT4
[0.199] KCF
[0.199] TLD
[0.194] ASLA
[0.188] fDSST
[0.187] CT
[0.174] CN
[0.174] MIL
[0.167] CSK
[0.154] L1APG
[0.140] STC
[0.122] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Fast Motion (296)
[0.250] MDNet
[0.245] VITAL
[0.217] ECO
[0.214] SINT
[0.208] DSiam
[0.205] StructSiam
[0.200] SiamFC
[0.183] ECO_HC
[0.180] STRCF
[0.168] MEEM
[0.157] CFNet
[0.150] TLD
[0.150] PTAV
[0.149] SRDCF
[0.146] TRACA
[0.145] BACF
[0.140] CSRDCF
[0.138] HCFT
[0.130] Staple
[0.129] LCT
[0.127] Staple_CA
[0.126] SAMF
[0.121] fDSST
[0.117] Struck
[0.109] DSST
[0.109] SCT4
[0.097] KCF
[0.092] ASLA
[0.085] CN
[0.078] CT
[0.074] CSK
[0.073] MIL
[0.069] STC
[0.069] L1APG
[0.056] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Full Occlusion (542)
[0.304] MDNet
[0.304] VITAL
[0.260] StructSiam
[0.260] DSiam
[0.255] SINT
[0.253] SiamFC
[0.247] ECO
[0.218] ECO_HC
[0.215] STRCF
[0.213] MEEM
[0.197] TRACA
[0.195] CFNet
[0.189] SRDCF
[0.182] PTAV
[0.182] HCFT
[0.180] TLD
[0.176] BACF
[0.173] CSRDCF
[0.172] SAMF
[0.166] LCT
[0.164] Staple
[0.164] Staple_CA
[0.162] Struck
[0.151] fDSST
[0.151] SCT4
[0.142] ASLA
[0.139] KCF
[0.138] DSST
[0.119] CN
[0.117] CT
[0.108] MIL
[0.108] CSK
[0.105] L1APG
[0.097] STC
[0.079] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Illumination Variation (224)
[0.438] VITAL
[0.435] MDNet
[0.377] ECO
[0.376] DSiam
[0.371] StructSiam
[0.358] SiamFC
[0.358] STRCF
[0.347] SINT
[0.340] ECO_HC
[0.337] CFNet
[0.323] BACF
[0.317] SRDCF
[0.311] TRACA
[0.296] CSRDCF
[0.295] Staple
[0.292] PTAV
[0.289] Staple_CA
[0.284] HCFT
[0.284] MEEM
[0.279] SAMF
[0.275] DSST
[0.267] fDSST
[0.266] LCT
[0.239] Struck
[0.233] TLD
[0.230] KCF
[0.228] SCT4
[0.227] ASLA
[0.202] CN
[0.197] L1APG
[0.182] CSK
[0.177] CT
[0.154] MIL
[0.153] IVT
[0.151] STC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Low Resolution (661)
[0.308] VITAL
[0.308] MDNet
[0.263] ECO
[0.259] DSiam
[0.257] StructSiam
[0.254] SiamFC
[0.245] SINT
[0.224] STRCF
[0.220] ECO_HC
[0.197] MEEM
[0.192] CFNet
[0.189] PTAV
[0.187] TRACA
[0.186] SRDCF
[0.184] BACF
[0.180] HCFT
[0.176] CSRDCF
[0.174] TLD
[0.168] Staple
[0.162] Staple_CA
[0.159] LCT
[0.158] SAMF
[0.155] Struck
[0.151] fDSST
[0.137] DSST
[0.133] SCT4
[0.129] ASLA
[0.125] KCF
[0.114] CN
[0.101] CT
[0.101] L1APG
[0.096] CSK
[0.093] STC
[0.093] MIL
[0.070] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Motion Blur (449)
[0.379] VITAL
[0.378] MDNet
[0.324] SiamFC
[0.320] StructSiam
[0.314] DSiam
[0.309] SINT
[0.303] ECO
[0.282] STRCF
[0.278] ECO_HC
[0.259] CFNet
[0.255] MEEM
[0.245] TRACA
[0.242] BACF
[0.241] HCFT
[0.240] Staple
[0.233] Staple_CA
[0.231] CSRDCF
[0.231] PTAV
[0.230] SRDCF
[0.228] SAMF
[0.216] LCT
[0.202] TLD
[0.201] DSST
[0.197] Struck
[0.192] fDSST
[0.188] SCT4
[0.179] KCF
[0.156] CN
[0.153] ASLA
[0.146] CT
[0.140] CSK
[0.137] MIL
[0.134] L1APG
[0.121] STC
[0.102] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Out-of-View (477)
[0.314] MDNet
[0.310] VITAL
[0.271] StructSiam
[0.262] SiamFC
[0.259] DSiam
[0.255] SINT
[0.242] ECO
[0.216] STRCF
[0.210] ECO_HC
[0.204] MEEM
[0.195] CFNet
[0.182] TRACA
[0.182] HCFT
[0.179] SRDCF
[0.177] BACF
[0.173] CSRDCF
[0.172] PTAV
[0.170] TLD
[0.167] SAMF
[0.167] Staple
[0.165] LCT
[0.158] Staple_CA
[0.154] Struck
[0.148] fDSST
[0.137] DSST
[0.137] SCT4
[0.135] KCF
[0.124] ASLA
[0.118] CT
[0.115] CN
[0.114] MIL
[0.103] CSK
[0.099] L1APG
[0.095] STC
[0.071] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Partial Occlusion (913)
[0.380] MDNet
[0.379] VITAL
[0.330] StructSiam
[0.329] SiamFC
[0.325] DSiam
[0.320] SINT
[0.309] ECO
[0.283] STRCF
[0.283] ECO_HC
[0.269] CFNet
[0.265] MEEM
[0.259] TRACA
[0.254] HCFT
[0.245] SRDCF
[0.242] BACF
[0.241] PTAV
[0.239] Staple
[0.238] SAMF
[0.236] Staple_CA
[0.233] CSRDCF
[0.226] LCT
[0.213] Struck
[0.210] TLD
[0.210] fDSST
[0.207] DSST
[0.204] SCT4
[0.195] KCF
[0.192] ASLA
[0.170] CN
[0.166] CT
[0.159] CSK
[0.156] MIL
[0.144] L1APG
[0.135] STC
[0.118] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Rotation (812)
[0.385] MDNet
[0.384] VITAL
[0.332] SiamFC
[0.329] StructSiam
[0.326] DSiam
[0.323] SINT
[0.291] ECO
[0.267] STRCF
[0.266] ECO_HC
[0.260] MEEM
[0.257] CFNet
[0.251] HCFT
[0.242] TRACA
[0.236] BACF
[0.227] CSRDCF
[0.227] Staple
[0.226] Staple_CA
[0.225] SAMF
[0.223] PTAV
[0.218] SRDCF
[0.215] Struck
[0.208] LCT
[0.196] TLD
[0.188] SCT4
[0.187] DSST
[0.186] fDSST
[0.183] KCF
[0.177] ASLA
[0.162] CT
[0.159] CN
[0.152] MIL
[0.150] CSK
[0.133] L1APG
[0.132] STC
[0.106] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Scale Variation (1321)
[0.407] MDNet
[0.404] VITAL
[0.351] SiamFC
[0.349] StructSiam
[0.346] DSiam
[0.329] SINT
[0.328] ECO
[0.304] STRCF
[0.301] ECO_HC
[0.286] CFNet
[0.274] TRACA
[0.268] BACF
[0.266] MEEM
[0.259] SRDCF
[0.257] HCFT
[0.257] PTAV
[0.255] Staple
[0.254] CSRDCF
[0.249] Staple_CA
[0.246] SAMF
[0.234] LCT
[0.221] DSST
[0.220] Struck
[0.219] fDSST
[0.217] TLD
[0.200] ASLA
[0.200] SCT4
[0.197] KCF
[0.174] CN
[0.168] CT
[0.161] CSK
[0.159] L1APG
[0.155] MIL
[0.142] STC
[0.125] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Viewpoint Change (153)
[0.424] MDNet
[0.414] VITAL
[0.372] ECO
[0.359] SiamFC
[0.346] DSiam
[0.341] StructSiam
[0.336] ECO_HC
[0.317] SINT
[0.313] STRCF
[0.308] SRDCF
[0.306] TRACA
[0.303] CFNet
[0.299] BACF
[0.281] Staple
[0.276] PTAV
[0.272] CSRDCF
[0.259] fDSST
[0.258] Staple_CA
[0.250] MEEM
[0.247] SAMF
[0.240] DSST
[0.239] HCFT
[0.237] LCT
[0.233] TLD
[0.228] ASLA
[0.225] Struck
[0.195] L1APG
[0.194] KCF
[0.178] SCT4
[0.170] CN
[0.166] CT
[0.156] CSK
[0.144] IVT
[0.140] STC
[0.137] MIL
Figure 4. Performance of trackers on each attribute using success under protocol I. Best viewed in color.
4. Detailed Attribute-based Performance under Protocol IIFig. 5 shows the performance of trackers on each attribute using precision under protocol II.
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Aspect Ration Change (249)
[0.336] MDNet
[0.324] VITAL
[0.305] SiamFC
[0.302] StructSiam
[0.292] DSiam
[0.267] SINT
[0.265] ECO
[0.257] STRCF
[0.241] ECO_HC
[0.224] CFNet
[0.215] HCFT
[0.213] PTAV
[0.210] MEEM
[0.208] BACF
[0.203] Staple
[0.197] Staple_CA
[0.196] TRACA
[0.189] CSRDCF
[0.181] SRDCF
[0.175] SAMF
[0.173] LCT
[0.161] TLD
[0.159] DSST
[0.158] Struck
[0.157] SCT4
[0.148] fDSST
[0.144] KCF
[0.137] CN
[0.136] ASLA
[0.122] L1APG
[0.109] STC
[0.104] CSK
[0.094] CT
[0.094] IVT
[0.072] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Background Clutter (100)
[0.363] MDNet
[0.346] VITAL
[0.331] StructSiam
[0.325] SiamFC
[0.317] STRCF
[0.308] DSiam
[0.302] ECO
[0.288] SINT
[0.283] ECO_HC
[0.271] CFNet
[0.260] Staple
[0.259] PTAV
[0.256] BACF
[0.254] Staple_CA
[0.253] HCFT
[0.251] TRACA
[0.243] SRDCF
[0.225] SAMF
[0.220] MEEM
[0.208] CSRDCF
[0.205] DSST
[0.203] LCT
[0.200] SCT4
[0.198] fDSST
[0.195] L1APG
[0.192] Struck
[0.185] KCF
[0.184] TLD
[0.182] CN
[0.179] ASLA
[0.160] STC
[0.153] CSK
[0.145] IVT
[0.107] CT
[0.089] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Camera Motion (86)
[0.381] MDNet
[0.352] VITAL
[0.340] SiamFC
[0.334] STRCF
[0.326] ECO
[0.324] StructSiam
[0.321] ECO_HC
[0.316] DSiam
[0.297] SINT
[0.273] PTAV
[0.262] BACF
[0.257] HCFT
[0.253] CFNet
[0.249] Staple_CA
[0.245] Staple
[0.240] TRACA
[0.232] MEEM
[0.229] SRDCF
[0.222] CSRDCF
[0.209] SAMF
[0.200] LCT
[0.189] SCT4
[0.185] TLD
[0.163] fDSST
[0.151] DSST
[0.143] KCF
[0.142] Struck
[0.142] L1APG
[0.135] ASLA
[0.122] CN
[0.118] STC
[0.117] IVT
[0.101] CSK
[0.082] MIL
[0.080] CT
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Deformation (142)
[0.310] StructSiam
[0.308] MDNet
[0.303] VITAL
[0.298] SiamFC
[0.279] DSiam
[0.244] SINT
[0.225] STRCF
[0.206] CFNet
[0.202] ECO
[0.197] HCFT
[0.195] ECO_HC
[0.192] Staple_CA
[0.189] CSRDCF
[0.189] MEEM
[0.187] Staple
[0.180] PTAV
[0.178] BACF
[0.169] TRACA
[0.158] SAMF
[0.158] Struck
[0.153] LCT
[0.137] DSST
[0.137] ASLA
[0.136] SRDCF
[0.128] SCT4
[0.124] KCF
[0.122] L1APG
[0.117] CN
[0.110] fDSST
[0.106] CSK
[0.101] TLD
[0.097] STC
[0.097] IVT
[0.093] CT
[0.062] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1P
recis
ion
Precision plots of OPE - Fast Motion (53)
[0.312] MDNet
[0.302] VITAL
[0.265] ECO
[0.262] StructSiam
[0.243] ECO_HC
[0.238] SINT
[0.231] SiamFC
[0.225] DSiam
[0.219] PTAV
[0.216] STRCF
[0.199] HCFT
[0.194] BACF
[0.189] MEEM
[0.185] TRACA
[0.185] TLD
[0.183] CFNet
[0.177] LCT
[0.164] CSRDCF
[0.164] SRDCF
[0.151] Staple
[0.145] Staple_CA
[0.138] fDSST
[0.132] DSST
[0.130] Struck
[0.127] SAMF
[0.123] SCT4
[0.113] ASLA
[0.110] KCF
[0.107] CN
[0.080] STC
[0.076] L1APG
[0.075] CT
[0.071] CSK
[0.056] IVT
[0.036] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Full Occlusion (118)
[0.327] MDNet
[0.317] VITAL
[0.278] DSiam
[0.273] SiamFC
[0.267] StructSiam
[0.259] ECO
[0.257] SINT
[0.245] ECO_HC
[0.243] STRCF
[0.216] MEEM
[0.214] CFNet
[0.208] HCFT
[0.195] PTAV
[0.192] TRACA
[0.189] TLD
[0.187] BACF
[0.183] SRDCF
[0.180] Staple
[0.174] Staple_CA
[0.173] SAMF
[0.171] CSRDCF
[0.165] SCT4
[0.163] LCT
[0.154] DSST
[0.150] Struck
[0.150] KCF
[0.149] fDSST
[0.137] CN
[0.128] ASLA
[0.123] L1APG
[0.104] STC
[0.101] CSK
[0.088] CT
[0.083] IVT
[0.061] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Illumination Variation (47)
[0.398] MDNet
[0.390] SiamFC
[0.380] StructSiam
[0.377] VITAL
[0.364] DSiam
[0.359] ECO
[0.356] STRCF
[0.340] ECO_HC
[0.338] CFNet
[0.326] SRDCF
[0.325] Staple
[0.324] PTAV
[0.319] Staple_CA
[0.316] BACF
[0.314] SINT
[0.307] TRACA
[0.293] CSRDCF
[0.286] HCFT
[0.282] fDSST
[0.280] SAMF
[0.258] DSST
[0.232] MEEM
[0.217] L1APG
[0.211] KCF
[0.209] LCT
[0.205] SCT4
[0.199] ASLA
[0.198] TLD
[0.197] CN
[0.196] Struck
[0.155] STC
[0.151] CSK
[0.147] IVT
[0.111] CT
[0.076] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Low Resolution (141)
[0.386] MDNet
[0.374] VITAL
[0.340] SiamFC
[0.336] StructSiam
[0.333] DSiam
[0.330] ECO
[0.304] SINT
[0.303] STRCF
[0.288] ECO_HC
[0.262] PTAV
[0.259] CFNet
[0.245] HCFT
[0.244] MEEM
[0.234] BACF
[0.229] Staple
[0.226] SRDCF
[0.222] TRACA
[0.221] CSRDCF
[0.220] TLD
[0.212] Staple_CA
[0.202] SAMF
[0.196] LCT
[0.194] Struck
[0.190] DSST
[0.184] SCT4
[0.183] fDSST
[0.167] ASLA
[0.164] CN
[0.164] KCF
[0.139] L1APG
[0.130] STC
[0.123] CSK
[0.115] CT
[0.091] IVT
[0.077] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Motion Blur (89)
[0.380] MDNet
[0.348] VITAL
[0.331] SiamFC
[0.323] STRCF
[0.314] StructSiam
[0.302] DSiam
[0.291] SINT
[0.273] ECO
[0.268] ECO_HC
[0.249] PTAV
[0.236] BACF
[0.232] Staple
[0.228] Staple_CA
[0.225] MEEM
[0.222] HCFT
[0.218] CFNet
[0.210] CSRDCF
[0.204] TRACA
[0.197] SRDCF
[0.191] SAMF
[0.187] LCT
[0.178] TLD
[0.174] fDSST
[0.166] DSST
[0.155] SCT4
[0.139] L1APG
[0.134] Struck
[0.134] KCF
[0.132] CN
[0.118] STC
[0.110] ASLA
[0.101] CSK
[0.096] IVT
[0.067] MIL
[0.065] CT
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Out-of-View (104)
[0.299] MDNet
[0.267] VITAL
[0.266] StructSiam
[0.256] SiamFC
[0.235] DSiam
[0.228] SINT
[0.222] STRCF
[0.218] ECO
[0.204] ECO_HC
[0.178] MEEM
[0.176] Staple
[0.175] HCFT
[0.167] BACF
[0.166] PTAV
[0.162] CFNet
[0.161] Staple_CA
[0.158] CSRDCF
[0.158] LCT
[0.157] TRACA
[0.152] TLD
[0.149] SRDCF
[0.139] SAMF
[0.133] SCT4
[0.130] Struck
[0.118] fDSST
[0.115] KCF
[0.111] DSST
[0.110] CN
[0.089] ASLA
[0.086] STC
[0.082] CSK
[0.080] L1APG
[0.072] CT
[0.067] IVT
[0.059] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Partial Occlusion (187)
[0.339] MDNet
[0.327] VITAL
[0.295] StructSiam
[0.294] SiamFC
[0.281] DSiam
[0.263] SINT
[0.261] ECO
[0.252] STRCF
[0.239] ECO_HC
[0.225] CFNet
[0.210] HCFT
[0.207] PTAV
[0.201] TRACA
[0.199] MEEM
[0.196] Staple
[0.194] Staple_CA
[0.194] BACF
[0.184] SRDCF
[0.183] CSRDCF
[0.175] SAMF
[0.162] LCT
[0.162] DSST
[0.151] TLD
[0.149] SCT4
[0.149] Struck
[0.147] fDSST
[0.145] ASLA
[0.142] KCF
[0.141] CN
[0.136] L1APG
[0.113] CSK
[0.112] STC
[0.099] IVT
[0.085] CT
[0.065] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Rotation (175)
[0.351] MDNet
[0.342] VITAL
[0.310] StructSiam
[0.310] SiamFC
[0.308] DSiam
[0.280] SINT
[0.261] ECO
[0.253] STRCF
[0.243] ECO_HC
[0.222] HCFT
[0.221] CFNet
[0.216] PTAV
[0.211] MEEM
[0.208] BACF
[0.203] Staple
[0.196] TRACA
[0.195] CSRDCF
[0.193] Staple_CA
[0.176] SAMF
[0.176] Struck
[0.171] SRDCF
[0.166] LCT
[0.160] DSST
[0.160] SCT4
[0.155] fDSST
[0.153] TLD
[0.152] ASLA
[0.149] CN
[0.142] KCF
[0.134] L1APG
[0.122] CSK
[0.116] STC
[0.102] IVT
[0.099] CT
[0.071] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Scale Variation (273)
[0.367] MDNet
[0.354] VITAL
[0.334] SiamFC
[0.326] StructSiam
[0.317] DSiam
[0.292] ECO
[0.291] STRCF
[0.284] SINT
[0.270] ECO_HC
[0.253] CFNet
[0.244] PTAV
[0.235] BACF
[0.234] HCFT
[0.233] Staple
[0.228] Staple_CA
[0.222] TRACA
[0.218] MEEM
[0.216] CSRDCF
[0.213] SRDCF
[0.197] SAMF
[0.185] LCT
[0.184] DSST
[0.177] fDSST
[0.174] Struck
[0.173] SCT4
[0.171] TLD
[0.160] KCF
[0.160] ASLA
[0.158] CN
[0.148] L1APG
[0.130] STC
[0.127] CSK
[0.114] IVT
[0.100] CT
[0.078] MIL
0 5 10 15 20 25 30 35 40 45 50
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Precision plots of OPE - Viewpoint Change (33)
[0.343] MDNet
[0.327] VITAL
[0.321] ECO
[0.313] STRCF
[0.307] DSiam
[0.288] CFNet
[0.283] SiamFC
[0.273] ECO_HC
[0.257] StructSiam
[0.249] SINT
[0.239] BACF
[0.228] CSRDCF
[0.220] Staple
[0.220] SRDCF
[0.218] PTAV
[0.215] TRACA
[0.206] MEEM
[0.205] Staple_CA
[0.199] DSST
[0.189] HCFT
[0.174] SAMF
[0.160] TLD
[0.154] Struck
[0.150] LCT
[0.149] ASLA
[0.139] fDSST
[0.123] CN
[0.117] L1APG
[0.108] SCT4
[0.107] STC
[0.105] KCF
[0.101] CT
[0.097] CSK
[0.093] IVT
[0.067] MIL
Figure 5. Performance of trackers on each attribute using precision under protocol II. Best viewed in color.
Fig. 6 shows the performance of trackers on each attribute using normalized precision under protocol II.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Aspect Ration Change (249)
[0.422] MDNet
[0.410] VITAL
[0.391] StructSiam
[0.389] SiamFC
[0.373] DSiam
[0.323] SINT
[0.297] STRCF
[0.295] ECO
[0.277] ECO_HC
[0.274] CFNet
[0.256] HCFT
[0.249] MEEM
[0.246] BACF
[0.244] TRACA
[0.239] Staple
[0.229] Staple_CA
[0.228] PTAV
[0.219] CSRDCF
[0.208] SRDCF
[0.208] SAMF
[0.187] LCT
[0.179] DSST
[0.176] TLD
[0.175] Struck
[0.173] SCT4
[0.168] fDSST
[0.162] KCF
[0.152] ASLA
[0.143] CN
[0.136] L1APG
[0.127] STC
[0.121] IVT
[0.115] CSK
[0.111] CT
[0.091] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Background Clutter (100)
[0.429] MDNet
[0.420] VITAL
[0.387] StructSiam
[0.366] SiamFC
[0.354] STRCF
[0.350] DSiam
[0.340] ECO
[0.337] SINT
[0.323] ECO_HC
[0.305] CFNet
[0.305] TRACA
[0.294] BACF
[0.290] HCFT
[0.289] PTAV
[0.285] Staple
[0.273] Staple_CA
[0.265] SRDCF
[0.258] SAMF
[0.246] CSRDCF
[0.240] MEEM
[0.233] DSST
[0.233] fDSST
[0.219] LCT
[0.219] SCT4
[0.215] KCF
[0.214] Struck
[0.212] L1APG
[0.204] TLD
[0.201] CN
[0.193] ASLA
[0.173] CSK
[0.171] STC
[0.166] IVT
[0.121] CT
[0.090] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Camera Motion (86)
[0.492] MDNet
[0.464] VITAL
[0.423] SiamFC
[0.414] StructSiam
[0.409] DSiam
[0.386] ECO_HC
[0.378] ECO
[0.376] STRCF
[0.357] SINT
[0.327] BACF
[0.326] HCFT
[0.321] CFNet
[0.319] TRACA
[0.318] PTAV
[0.285] Staple
[0.285] MEEM
[0.281] SRDCF
[0.278] Staple_CA
[0.266] CSRDCF
[0.261] SAMF
[0.225] SCT4
[0.221] LCT
[0.217] TLD
[0.212] fDSST
[0.202] DSST
[0.201] KCF
[0.181] Struck
[0.170] L1APG
[0.162] CN
[0.161] STC
[0.153] ASLA
[0.149] IVT
[0.142] CSK
[0.115] CT
[0.094] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Deformation (142)
[0.452] StructSiam
[0.443] MDNet
[0.439] SiamFC
[0.436] VITAL
[0.414] DSiam
[0.344] SINT
[0.295] STRCF
[0.295] CFNet
[0.278] HCFT
[0.278] ECO
[0.257] ECO_HC
[0.249] MEEM
[0.246] Staple_CA
[0.246] BACF
[0.242] Staple
[0.238] CSRDCF
[0.237] TRACA
[0.216] SAMF
[0.207] PTAV
[0.201] Struck
[0.185] LCT
[0.185] SRDCF
[0.166] ASLA
[0.166] DSST
[0.165] SCT4
[0.158] KCF
[0.156] L1APG
[0.145] IVT
[0.143] fDSST
[0.134] CN
[0.134] TLD
[0.130] CSK
[0.126] STC
[0.120] CT
[0.100] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Fast Motion (53)
[0.313] MDNet
[0.302] VITAL
[0.277] StructSiam
[0.242] ECO
[0.236] SiamFC
[0.234] DSiam
[0.226] ECO_HC
[0.226] STRCF
[0.215] SINT
[0.207] PTAV
[0.195] BACF
[0.189] CFNet
[0.182] MEEM
[0.179] HCFT
[0.177] TRACA
[0.153] CSRDCF
[0.153] SRDCF
[0.147] TLD
[0.146] Staple
[0.144] LCT
[0.142] SAMF
[0.141] Staple_CA
[0.134] fDSST
[0.131] DSST
[0.121] SCT4
[0.107] KCF
[0.104] Struck
[0.101] ASLA
[0.096] CN
[0.085] L1APG
[0.073] STC
[0.067] CSK
[0.062] IVT
[0.045] MIL
[0.044] CT
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Full Occlusion (118)
[0.346] MDNet
[0.337] VITAL
[0.296] SiamFC
[0.295] DSiam
[0.295] StructSiam
[0.261] SINT
[0.257] ECO
[0.251] STRCF
[0.251] ECO_HC
[0.227] TRACA
[0.221] CFNet
[0.213] MEEM
[0.206] HCFT
[0.199] BACF
[0.199] PTAV
[0.188] TLD
[0.186] Staple
[0.185] SAMF
[0.181] Staple_CA
[0.178] CSRDCF
[0.177] SRDCF
[0.164] SCT4
[0.161] LCT
[0.154] DSST
[0.152] KCF
[0.151] fDSST
[0.140] Struck
[0.139] ASLA
[0.134] CN
[0.127] L1APG
[0.103] STC
[0.103] CSK
[0.096] IVT
[0.086] CT
[0.057] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Illumination Variation (47)
[0.502] StructSiam
[0.500] DSiam
[0.492] MDNet
[0.475] VITAL
[0.473] SiamFC
[0.410] ECO
[0.405] CFNet
[0.388] STRCF
[0.376] ECO_HC
[0.356] SINT
[0.355] BACF
[0.355] HCFT
[0.346] Staple
[0.344] SRDCF
[0.344] PTAV
[0.343] Staple_CA
[0.340] TRACA
[0.324] SAMF
[0.317] CSRDCF
[0.304] fDSST
[0.293] DSST
[0.274] MEEM
[0.239] KCF
[0.237] L1APG
[0.227] SCT4
[0.219] Struck
[0.218] TLD
[0.216] LCT
[0.216] CN
[0.214] ASLA
[0.162] CSK
[0.160] STC
[0.147] IVT
[0.117] CT
[0.095] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Low Resolution (141)
[0.380] MDNet
[0.372] VITAL
[0.325] SiamFC
[0.325] StructSiam
[0.320] DSiam
[0.293] ECO
[0.284] STRCF
[0.274] SINT
[0.257] ECO_HC
[0.241] CFNet
[0.225] PTAV
[0.222] BACF
[0.215] Staple
[0.209] TRACA
[0.207] HCFT
[0.203] SRDCF
[0.197] Staple_CA
[0.195] MEEM
[0.190] CSRDCF
[0.180] SAMF
[0.180] TLD
[0.164] DSST
[0.163] SCT4
[0.159] LCT
[0.158] fDSST
[0.154] Struck
[0.151] ASLA
[0.142] KCF
[0.129] CN
[0.126] L1APG
[0.109] STC
[0.099] CSK
[0.087] IVT
[0.079] CT
[0.049] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Motion Blur (89)
[0.434] MDNet
[0.421] VITAL
[0.390] SiamFC
[0.381] StructSiam
[0.356] DSiam
[0.342] STRCF
[0.339] SINT
[0.311] ECO_HC
[0.298] ECO
[0.271] BACF
[0.271] PTAV
[0.262] HCFT
[0.259] MEEM
[0.251] TRACA
[0.251] Staple
[0.247] CFNet
[0.244] Staple_CA
[0.226] CSRDCF
[0.224] SAMF
[0.215] SRDCF
[0.199] fDSST
[0.197] LCT
[0.183] DSST
[0.179] TLD
[0.171] SCT4
[0.168] KCF
[0.157] L1APG
[0.154] Struck
[0.140] CN
[0.135] STC
[0.122] ASLA
[0.118] CSK
[0.114] IVT
[0.074] CT
[0.066] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Out-of-View (104)
[0.377] MDNet
[0.359] StructSiam
[0.351] VITAL
[0.334] SiamFC
[0.318] DSiam
[0.275] SINT
[0.257] STRCF
[0.248] ECO
[0.232] ECO_HC
[0.212] MEEM
[0.203] CFNet
[0.202] Staple
[0.198] BACF
[0.195] HCFT
[0.189] TRACA
[0.187] PTAV
[0.182] Staple_CA
[0.172] CSRDCF
[0.167] SRDCF
[0.162] SAMF
[0.161] LCT
[0.148] TLD
[0.146] SCT4
[0.138] fDSST
[0.138] KCF
[0.135] Struck
[0.135] DSST
[0.107] CN
[0.102] L1APG
[0.101] ASLA
[0.097] STC
[0.087] CSK
[0.084] IVT
[0.071] CT
[0.064] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Partial Occlusion (187)
[0.421] MDNet
[0.413] VITAL
[0.380] StructSiam
[0.374] SiamFC
[0.357] DSiam
[0.326] SINT
[0.296] ECO
[0.294] STRCF
[0.277] ECO_HC
[0.267] CFNet
[0.265] HCFT
[0.256] TRACA
[0.244] MEEM
[0.241] PTAV
[0.237] BACF
[0.232] Staple
[0.227] Staple_CA
[0.223] CSRDCF
[0.215] SAMF
[0.208] SRDCF
[0.192] LCT
[0.186] DSST
[0.180] fDSST
[0.176] SCT4
[0.173] TLD
[0.171] Struck
[0.170] KCF
[0.169] ASLA
[0.156] CN
[0.155] L1APG
[0.130] IVT
[0.130] CSK
[0.124] STC
[0.104] CT
[0.085] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Rotation (175)
[0.431] MDNet
[0.425] VITAL
[0.393] StructSiam
[0.388] DSiam
[0.385] SiamFC
[0.333] SINT
[0.283] ECO
[0.282] STRCF
[0.269] ECO_HC
[0.267] CFNet
[0.250] HCFT
[0.244] MEEM
[0.232] Staple
[0.232] BACF
[0.230] TRACA
[0.226] Staple_CA
[0.217] PTAV
[0.213] CSRDCF
[0.199] SAMF
[0.187] Struck
[0.185] LCT
[0.184] SRDCF
[0.172] TLD
[0.167] DSST
[0.166] ASLA
[0.165] SCT4
[0.161] fDSST
[0.148] KCF
[0.147] CN
[0.141] L1APG
[0.129] STC
[0.127] CSK
[0.124] IVT
[0.116] CT
[0.081] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Scale Variation (273)
[0.455] MDNet
[0.447] VITAL
[0.415] SiamFC
[0.413] StructSiam
[0.399] DSiam
[0.344] SINT
[0.332] STRCF
[0.329] ECO
[0.311] ECO_HC
[0.303] CFNet
[0.280] HCFT
[0.276] BACF
[0.271] TRACA
[0.269] Staple
[0.263] PTAV
[0.261] Staple_CA
[0.255] MEEM
[0.245] CSRDCF
[0.241] SRDCF
[0.229] SAMF
[0.204] DSST
[0.199] LCT
[0.198] fDSST
[0.197] Struck
[0.192] SCT4
[0.186] TLD
[0.181] KCF
[0.180] ASLA
[0.167] CN
[0.166] L1APG
[0.147] STC
[0.142] IVT
[0.141] CSK
[0.117] CT
[0.094] MIL
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Location error threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Pre
cis
ion
Normalized Precision plots of OPE - Viewpoint Change (33)
[0.426] MDNet
[0.404] VITAL
[0.366] DSiam
[0.366] SiamFC
[0.348] STRCF
[0.342] CFNet
[0.338] ECO
[0.325] StructSiam
[0.293] ECO_HC
[0.290] BACF
[0.279] SINT
[0.258] Staple
[0.245] TRACA
[0.242] SRDCF
[0.236] CSRDCF
[0.236] Staple_CA
[0.211] MEEM
[0.206] PTAV
[0.203] SAMF
[0.196] DSST
[0.186] ASLA
[0.181] HCFT
[0.168] TLD
[0.157] Struck
[0.156] L1APG
[0.136] LCT
[0.130] fDSST
[0.127] SCT4
[0.126] CN
[0.118] IVT
[0.111] STC
[0.110] KCF
[0.105] CT
[0.094] CSK
[0.071] MIL
Figure 6. Performance of trackers on each attribute using precision under protocol II. Best viewed in color.
Fig. 7 shows the performance of trackers on each attribute using success under protocol II.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Aspect Ration Change (249)
[0.366] MDNet
[0.358] VITAL
[0.313] StructSiam
[0.308] SiamFC
[0.307] DSiam
[0.294] SINT
[0.288] ECO
[0.269] STRCF
[0.267] ECO_HC
[0.243] MEEM
[0.243] CFNet
[0.234] HCFT
[0.228] BACF
[0.227] TRACA
[0.215] CSRDCF
[0.213] Staple
[0.212] PTAV
[0.211] SAMF
[0.208] SRDCF
[0.206] Staple_CA
[0.198] LCT
[0.193] Struck
[0.192] TLD
[0.180] DSST
[0.171] SCT4
[0.168] fDSST
[0.163] ASLA
[0.158] KCF
[0.149] CN
[0.144] CT
[0.128] MIL
[0.127] CSK
[0.125] L1APG
[0.119] STC
[0.094] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Background Clutter (100)
[0.374] MDNet
[0.365] VITAL
[0.320] StructSiam
[0.319] ECO
[0.317] STRCF
[0.308] SiamFC
[0.305] SINT
[0.304] DSiam
[0.304] ECO_HC
[0.278] TRACA
[0.271] CFNet
[0.265] BACF
[0.259] SRDCF
[0.254] SAMF
[0.251] PTAV
[0.251] Staple
[0.246] HCFT
[0.244] Staple_CA
[0.238] MEEM
[0.233] CSRDCF
[0.231] LCT
[0.226] Struck
[0.222] fDSST
[0.219] DSST
[0.213] TLD
[0.212] SCT4
[0.198] KCF
[0.197] ASLA
[0.185] CN
[0.175] L1APG
[0.170] CSK
[0.163] CT
[0.145] STC
[0.138] MIL
[0.134] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Camera Motion (86)
[0.416] MDNet
[0.397] VITAL
[0.358] ECO
[0.346] ECO_HC
[0.344] STRCF
[0.337] DSiam
[0.337] StructSiam
[0.333] SiamFC
[0.315] SINT
[0.292] TRACA
[0.289] CFNet
[0.286] BACF
[0.272] SRDCF
[0.266] MEEM
[0.266] PTAV
[0.261] HCFT
[0.259] Staple_CA
[0.254] Staple
[0.251] CSRDCF
[0.248] SAMF
[0.234] LCT
[0.223] TLD
[0.206] SCT4
[0.202] fDSST
[0.200] DSST
[0.191] Struck
[0.180] KCF
[0.170] ASLA
[0.159] CN
[0.148] CT
[0.144] L1APG
[0.140] STC
[0.140] CSK
[0.139] MIL
[0.113] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Deformation (142)
[0.391] MDNet
[0.384] VITAL
[0.361] StructSiam
[0.351] SiamFC
[0.338] DSiam
[0.319] SINT
[0.279] ECO
[0.274] STRCF
[0.271] CFNet
[0.270] ECO_HC
[0.257] HCFT
[0.256] MEEM
[0.238] BACF
[0.235] CSRDCF
[0.230] TRACA
[0.229] Staple
[0.229] SAMF
[0.221] Staple_CA
[0.216] Struck
[0.209] LCT
[0.208] PTAV
[0.204] SRDCF
[0.183] DSST
[0.180] ASLA
[0.178] SCT4
[0.174] KCF
[0.173] TLD
[0.168] CT
[0.163] CN
[0.162] fDSST
[0.149] MIL
[0.148] CSK
[0.139] L1APG
[0.127] STC
[0.103] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Fast Motion (53)
[0.260] MDNet
[0.246] VITAL
[0.233] ECO
[0.215] StructSiam
[0.199] ECO_HC
[0.199] SINT
[0.198] STRCF
[0.197] DSiam
[0.195] SiamFC
[0.176] BACF
[0.168] PTAV
[0.163] MEEM
[0.161] LCT
[0.156] CFNet
[0.154] TRACA
[0.146] HCFT
[0.145] SRDCF
[0.143] TLD
[0.140] CSRDCF
[0.134] Staple
[0.129] Staple_CA
[0.125] SAMF
[0.118] fDSST
[0.114] DSST
[0.107] Struck
[0.106] SCT4
[0.104] ASLA
[0.089] KCF
[0.086] CN
[0.080] STC
[0.076] CT
[0.068] L1APG
[0.066] CSK
[0.055] MIL
[0.050] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Full Occlusion (118)
[0.305] MDNet
[0.301] VITAL
[0.254] ECO
[0.253] DSiam
[0.245] SiamFC
[0.243] SINT
[0.241] StructSiam
[0.234] STRCF
[0.229] ECO_HC
[0.215] MEEM
[0.201] TRACA
[0.199] CFNet
[0.189] HCFT
[0.188] BACF
[0.188] SAMF
[0.182] TLD
[0.181] SRDCF
[0.179] PTAV
[0.167] CSRDCF
[0.166] LCT
[0.162] Staple
[0.161] Struck
[0.159] Staple_CA
[0.158] SCT4
[0.142] fDSST
[0.140] DSST
[0.140] KCF
[0.138] ASLA
[0.127] CN
[0.114] CT
[0.113] L1APG
[0.105] CSK
[0.099] STC
[0.094] MIL
[0.076] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Illumination Variation (47)
[0.407] MDNet
[0.403] VITAL
[0.380] DSiam
[0.373] ECO
[0.366] StructSiam
[0.346] SiamFC
[0.334] STRCF
[0.328] ECO_HC
[0.318] CFNet
[0.314] SINT
[0.312] BACF
[0.298] SRDCF
[0.294] TRACA
[0.281] CSRDCF
[0.272] Staple
[0.267] SAMF
[0.267] Staple_CA
[0.266] PTAV
[0.258] HCFT
[0.253] DSST
[0.248] fDSST
[0.244] MEEM
[0.224] LCT
[0.212] TLD
[0.209] Struck
[0.205] ASLA
[0.190] L1APG
[0.187] SCT4
[0.184] KCF
[0.161] CN
[0.146] CT
[0.143] STC
[0.142] CSK
[0.115] IVT
[0.112] MIL
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Low Resolution (141)
[0.317] MDNet
[0.309] VITAL
[0.267] ECO
[0.258] StructSiam
[0.257] DSiam
[0.252] SiamFC
[0.246] SINT
[0.245] STRCF
[0.236] ECO_HC
[0.198] PTAV
[0.195] BACF
[0.195] CFNet
[0.194] MEEM
[0.187] SRDCF
[0.185] HCFT
[0.184] TRACA
[0.180] TLD
[0.177] CSRDCF
[0.173] Staple
[0.170] SAMF
[0.170] LCT
[0.165] Staple_CA
[0.158] Struck
[0.147] fDSST
[0.143] DSST
[0.143] SCT4
[0.137] ASLA
[0.126] KCF
[0.117] CN
[0.111] L1APG
[0.109] CT
[0.095] STC
[0.095] CSK
[0.084] MIL
[0.069] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Motion Blur (89)
[0.376] MDNet
[0.363] VITAL
[0.324] STRCF
[0.309] StructSiam
[0.308] SiamFC
[0.305] ECO
[0.304] ECO_HC
[0.300] DSiam
[0.297] SINT
[0.251] MEEM
[0.246] BACF
[0.245] TRACA
[0.244] PTAV
[0.238] CFNet
[0.231] Staple
[0.226] CSRDCF
[0.226] Staple_CA
[0.223] SRDCF
[0.222] HCFT
[0.220] SAMF
[0.217] LCT
[0.202] TLD
[0.193] fDSST
[0.187] DSST
[0.175] Struck
[0.173] SCT4
[0.161] KCF
[0.150] CN
[0.150] ASLA
[0.141] L1APG
[0.128] CSK
[0.121] STC
[0.119] CT
[0.114] MIL
[0.093] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Out-of-View (104)
[0.330] MDNet
[0.304] VITAL
[0.278] StructSiam
[0.256] SiamFC
[0.254] SINT
[0.253] DSiam
[0.239] ECO
[0.232] STRCF
[0.225] ECO_HC
[0.209] MEEM
[0.189] HCFT
[0.185] Staple
[0.183] CFNet
[0.181] BACF
[0.176] PTAV
[0.175] CSRDCF
[0.173] LCT
[0.173] TRACA
[0.171] Staple_CA
[0.168] SRDCF
[0.167] TLD
[0.159] SAMF
[0.158] Struck
[0.139] SCT4
[0.137] fDSST
[0.136] DSST
[0.130] KCF
[0.115] ASLA
[0.113] CN
[0.112] CT
[0.105] MIL
[0.096] STC
[0.094] L1APG
[0.092] CSK
[0.059] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Partial Occlusion (187)
[0.370] MDNet
[0.361] VITAL
[0.310] StructSiam
[0.306] SiamFC
[0.303] DSiam
[0.296] SINT
[0.290] ECO
[0.273] STRCF
[0.267] ECO_HC
[0.246] CFNet
[0.244] MEEM
[0.240] TRACA
[0.233] HCFT
[0.222] BACF
[0.217] PTAV
[0.214] SRDCF
[0.212] SAMF
[0.211] CSRDCF
[0.209] Staple
[0.208] Staple_CA
[0.198] LCT
[0.191] Struck
[0.189] TLD
[0.182] DSST
[0.177] SCT4
[0.175] fDSST
[0.174] ASLA
[0.161] KCF
[0.149] CN
[0.142] CT
[0.137] L1APG
[0.131] CSK
[0.129] MIL
[0.116] STC
[0.100] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Rotation (175)
[0.379] MDNet
[0.371] VITAL
[0.321] DSiam
[0.319] StructSiam
[0.310] SiamFC
[0.302] SINT
[0.285] ECO
[0.269] ECO_HC
[0.265] STRCF
[0.247] CFNet
[0.245] MEEM
[0.239] HCFT
[0.224] BACF
[0.221] TRACA
[0.221] CSRDCF
[0.219] Staple
[0.219] PTAV
[0.212] SAMF
[0.210] Staple_CA
[0.199] Struck
[0.199] SRDCF
[0.196] LCT
[0.189] TLD
[0.179] DSST
[0.174] ASLA
[0.172] SCT4
[0.172] fDSST
[0.158] KCF
[0.156] CN
[0.148] CT
[0.135] CSK
[0.131] MIL
[0.128] L1APG
[0.125] STC
[0.097] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Scale Variation (273)
[0.392] MDNet
[0.385] VITAL
[0.332] SiamFC
[0.331] StructSiam
[0.328] DSiam
[0.318] ECO
[0.307] SINT
[0.303] STRCF
[0.297] ECO_HC
[0.267] CFNet
[0.255] BACF
[0.252] TRACA
[0.250] MEEM
[0.244] HCFT
[0.241] PTAV
[0.239] CSRDCF
[0.239] SRDCF
[0.237] Staple
[0.231] Staple_CA
[0.226] SAMF
[0.215] LCT
[0.205] Struck
[0.204] TLD
[0.200] DSST
[0.195] fDSST
[0.187] ASLA
[0.184] SCT4
[0.171] KCF
[0.163] CN
[0.152] CT
[0.149] L1APG
[0.141] CSK
[0.136] MIL
[0.132] STC
[0.109] IVT
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Overlap threshold
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Success r
ate
Success plots of OPE - Viewpoint Change (33)
[0.358] MDNet
[0.339] VITAL
[0.317] ECO
[0.298] ECO_HC
[0.287] DSiam
[0.286] SiamFC
[0.283] STRCF
[0.254] BACF
[0.248] CFNet
[0.247] SINT
[0.246] StructSiam
[0.238] CSRDCF
[0.226] Staple
[0.225] SRDCF
[0.208] TRACA
[0.203] PTAV
[0.194] MEEM
[0.193] Staple_CA
[0.178] SAMF
[0.177] HCFT
[0.176] DSST
[0.172] TLD
[0.167] LCT
[0.160] ASLA
[0.158] Struck
[0.137] L1APG
[0.136] fDSST
[0.119] CT
[0.112] CN
[0.102] STC
[0.101] SCT4
[0.100] CSK
[0.100] MIL
[0.095] IVT
[0.093] KCF
Figure 7. Performance of trackers on each attribute using success under protocol II. Best viewed in color.
References[1] Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei. Imagenet: A large-scale hierarchical image database. In CVPR,
2009. 2[2] Hamed Kiani Galoogahi, Ashton Fagg, Chen Huang, Deva Ramanan, and Simon Lucey. Need for speed: A benchmark for higher
frame rate object tracking. In ICCV, 2017. 1[3] Matej Kristan et al. The visual object tracking vot2017 challenge results. In ICCVW, 2017. 1[4] Annan Li, Min Lin, Yi Wu, Ming-Hsuan Yang, and Shuicheng Yan. Nus-pro: A new visual tracking challenge. TPAMI, 38(2):335–349,
2016. 1[5] Pengpeng Liang, Erik Blasch, and Haibin Ling. Encoding color information for visual tracking: Algorithms and benchmark. TIP,
24(12):5630–5644, 2015. 1, 2[6] Matthias Mueller, Neil Smith, and Bernard Ghanem. A benchmark and simulator for uav tracking. In ECCV, 2016. 1[7] Yi Wu, Jongwoo Lim, and Ming-Hsuan Yang. Object tracking benchmark. TPAMI, 37(9):1834–1848, 2015. 1
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