The Mean of Multi-Object Trajectories

This paper introduces the concept of a mean for trajectories and multi-object trajectories (defined as sets or multi-sets of trajectories) along with algorithms for computing them. Specifically, we use the Fréchet mean, and metrics based on the optimal sub-pattern assignment (OSPA) construct, to extend the notion of average from vectors to trajectories and multi-object trajectories. Further, we develop efficient algorithms to compute these means using greedy search and Gibbs sampling. Using distributed multi-object tracking as an application, we demonstrate that the Fréchet mean approach to multi-object trajectory consensus significantly outperforms state-of-the-art distributed multi-object tracking methods.