Learning Future-Aware Correlation Filters for Efficient UAV Tracking

Remote Sensing

卷:13

Shiping Ma¹  Zhuling Qiu¹  Fei Zhang¹  Lixin Yu²  Yule Zhang³  Zhenyu Li⁴ 

[1] Aeronautics Engineering College, Air Force Engineering University, Xi’an 710038, China;

[2] Air Traffic Control and Navigation College, Air Force Engineering University, Xi’an 710051, China;

[3] Air and Missile Defense College, Air Force Engineering University, Xi’an 710051, China;

[4] Harbin Institute of Technology, Harbing 150080, China;

关键词: visual tracking;    unmanned aerial vehicle;    discriminative correlation filter;    future awareness;    context learning;    time series forecast;   

DOI  :  10.3390/rs13204111

来源: DOAJ

【 摘 要 】

In recent years, discriminative correlation filter (DCF)-based trackers have made considerable progress and drawn widespread attention in the unmanned aerial vehicle (UAV) tracking community. Most existing trackers collect historical information, e.g., training samples, previous filters, and response maps, to promote their discrimination and robustness. Under UAV-specific tracking challenges, e.g., fast motion and view change, variations of both the target and its environment in the new frame are unpredictable. Interfered by future unknown environments, trackers that trained with historical information may be confused by the new context, resulting in tracking failure. In this paper, we propose a novel future-aware correlation filter tracker, i.e., FACF. The proposed method aims at effectively utilizing context information in the new frame for better discriminative and robust abilities, which consists of two stages: future state awareness and future context awareness. In the former stage, an effective time series forecast method is employed to reason a coarse position of the target, which is the reference for obtaining a context patch in the new frame. In the latter stage, we firstly obtain the single context patch with an efficient target-aware method. Then, we train a filter with the future context information in order to perform robust tracking. Extensive experimental results obtained from three UAV benchmarks, i.e., UAV123_10fps, DTB70, and UAVTrack112, demonstrate the effectiveness and robustness of the proposed tracker. Our tracker has comparable performance with other state-of-the-art trackers while running at ∼49 FPS on a single CPU.

【 授权许可】

Unknown