Visual Object Tracking Based on the Motion Prediction and Block Search in UAV Videos

Abstract

With the development of computer vision and Unmanned Aerial Vehicles (UAVs) technology, visual object tracking has become an indispensable core technology for UAVs, and it has been widely used in both civil and military fields. Visual object tracking from the UAV perspective experiences interference from various complex conditions such as background clutter, occlusion, and being out of view, which can easily lead to tracking drift. Once tracking drift occurs, it will lead to almost complete failure of the subsequent tracking. Currently, few trackers have been designed to solve the tracking drift problem. Thus, this paper proposes a tracking algorithm based on motion prediction and block search to address the tracking drift problem caused by various complex conditions. Specifically, when the tracker experiences tracking drift, we first use a Kalman filter to predict the motion state of the target, and then use a block search module to relocate the target. In addition, to improve the tracker’s ability to adapt to changes in the target’s appearance and the environment, we propose a dynamic template updating network (DTUN) that allows the tracker to make appropriate template decisions based on various tracking conditions. We also introduce three tracking evaluation metrics: namely, average peak correlation energy, size change ratio, and tracking score. They serve as prior information for tracking status identification in the DTUN and the block prediction module. Extensive experiments and comparisons with many competitive algorithms on five aerial benchmarks, UAV20L, UAV123, UAVDT, DTB70, and VisDrone2018-SOT, demonstrate that our method achieves significant performance improvements. Especially in UAV20L long-term tracking, our method outperforms the baseline in terms of success rate and accuracy by 19.1% and 20.8%, respectively. This demonstrates the superior performance of our method in the task of long-term tracking from the UAV perspective, and we achieve a real-time speed of 43 FPS.

Keywords

• object tracking
• block search
• motion prediction
• dynamic templates
• evaluation metrics