Guidance-Tracker:An Adaptive UAV Siamese Tracker for Visual Guidance

doi:10.12382/bgxb.2024.0284

Abstract

Abstract:

Object tracking is an important part of UAV visual guidance,and the tracking accuracy determines the combat effectiveness of UAVs on the battlefield.There are many problems with general object tracking in UAV guidance:fast scale change,large appearance change,slow inference speed and lack of dataset.In order to solve the problems,this paper proposes Guidance-Tracker,an adaptive UAV siamese tracker for visual guidance.The adaptive search region mechanism adjusts the search region to fit the fast scale change by analyzing the guidance process,and the adaptive template updating mechanism updates the template feature to fit large appearance change.Besides,FasterNet Block and anchor-free mechanism are respectively introduced in the backbone network and the tracking head to speed up the inference time.In addition,an object tracking test dataset Guidance UAV for visual guidance,which contains 12 videos, is constructed to evaluate the performance of trackers in visual guidance.The experiment results indicate that Guidance-Tracker is not only suitable for use on the general UAV tracking dataset UAV123,but also achieves state-of-the-art performance on the Guidance UAV,while maintaining a speed of 15f/s on the onboard device Jetson Xavier NX.The indoor guidance experiments shows the effectiveness of the Guidance Tracker.

Key words: visual guidance, object tracking, UAV, adaptive, template updating, search region

YANG Xuqi, TAN Qifan, SU Hang, TAN Hao. Guidance-Tracker:An Adaptive UAV Siamese Tracker for Visual Guidance[J]. Acta Armamentarii, 2025, 46(2): 240284-.

Figures/Tables 12

References 24

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参数	数值
初始高度	20~100m
飞行速度	5~40m/s
图像尺寸	1152*720
数据数量	2015
有遮挡段数	4
无目标段数	2
视频帧率	30f/s

参数	数值
初始高度	20~100m
飞行速度	5~40m/s
图像尺寸	1152*720
数据数量	2015
有遮挡段数	4
无目标段数	2
视频帧率	30f/s

算法	来源	Guidance UAV			UAV 123
算法	来源	IOU₁₀₀	IOU₂₀	EOA_A	成功率	精度
KCF^[3]	TPAMI2014	24.73	14.59	34.11	52.17	65.52
SiamRPN^[6]	CVPR2018	37.17	27.46	44.91	64.32	75.98
DasiamRPN^[12]	ECCV2018	33.34	17.22	43.66	66.11	77.53
SiamRPN++^[8]	CVPR2019	43.26	35.72	48.87	69.62	83.14
SiamFC++^[7]	AAAI2020	33.09	19.20	41.68	65.61	71.34
SiamCAR^[21]	CVPR2020	38.85	31.53	45.12	68.04	78.08
SiamBAN^[12]	CVPR2020	41.90	33.77	42.67	69.48	83.17
TCTrack^[13]	CVPR2022	47.37	37.41	50.82	71.18	86.77
Guidance	Ours	49.24	40.83	51.24	67.72	83.34

算法	来源	Guidance UAV			UAV 123
算法	来源	IOU₁₀₀	IOU₂₀	EOA_A	成功率	精度
KCF^[3]	TPAMI2014	24.73	14.59	34.11	52.17	65.52
SiamRPN^[6]	CVPR2018	37.17	27.46	44.91	64.32	75.98
DasiamRPN^[12]	ECCV2018	33.34	17.22	43.66	66.11	77.53
SiamRPN++^[8]	CVPR2019	43.26	35.72	48.87	69.62	83.14
SiamFC++^[7]	AAAI2020	33.09	19.20	41.68	65.61	71.34
SiamCAR^[21]	CVPR2020	38.85	31.53	45.12	68.04	78.08
SiamBAN^[12]	CVPR2020	41.90	33.77	42.67	69.48	83.17
TCTrack^[13]	CVPR2022	47.37	37.41	50.82	71.18	86.77
Guidance	Ours	49.24	40.83	51.24	67.72	83.34

Backbone	搜索	模板	IOU₁₀₀	IOU₂₀	EAO_A	推理速度
Alexnet			33.09	19.20	41.68	11.2
Fastnet Block			35.11	21.76	44.51	17.3
	√		44.81	35.46	48.63	16.5
		√	41.22	29.09	46.31	15.7
	√	√	49.24	40.83	51.24	15.1