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Motion-aware ensemble of three-mode trackers for unmanned aerial vehicles
Cited 1 time in
Web of Science
Cited 2 time in Scopus
- Authors
- Issue Date
- 2021-05
- Publisher
- Springer Verlag
- Citation
- Machine Vision and Applications, Vol.32 No.3, p. 54
- Abstract
- To tackle problems arising from unexpected camera motions in unmanned aerial vehicles (UAVs), we propose a three-mode ensemble tracker where each mode specializes in distinctive situations. The proposed ensemble tracker is composed of appearance-based tracking mode, homography-based tracking mode, and momentum-based tracking mode. The appearance-based tracking mode tracks a moving object well when the UAV is nearly stopped, whereas the homography-based tracking mode shows good tracking performance under smooth UAV or object motion. The momentum-based tracking mode copes with large or abrupt motion of either the UAV or the object. We evaluate the proposed tracking scheme on a widely-used UAV123 benchmark dataset. The proposed motion-aware ensemble shows a 5.3% improvement in average precision compared to the baseline correlation filter tracker, which effectively employs deep features while achieving a tracking speed of at least 80fps in our experimental settings. In addition, the proposed method outperforms existing real-time correlation filter trackers.
- ISSN
- 0932-8092
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