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Register a new userDarkLighter: Light Up the Darkness for UAV Tracking
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Added by
Junjie Ye
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Recent years have witnessed the fast evolution and promising performance of the convolutional neural network (CNN)-based trackers, which aim at imitating biological visual systems. However, current CNN-based trackers can hardly generalize well to low-light scenes that are commonly lacked in the existing training set. In indistinguishable night scenarios frequently encountered in unmanned aerial vehicle (UAV) tracking-based applications, the robustness of the state-of-the-art (SOTA) trackers drops significantly. To facilitate aerial tracking in the dark through a general fashion, this work proposes a low-light image enhancer namely DarkLighter, which dedicates to alleviate the impact of poor illumination and noise iteratively. A lightweight map estimation network, i.e., ME-Net, is trained to efficiently estimate illumination maps and noise maps jointly. Experiments are conducted with several SOTA trackers on numerous UAV dark tracking scenes. Exhaustive evaluations demonstrate the reliability and universality of DarkLighter, with high efficiency. Moreover, DarkLighter has further been implemented on a typical UAV system. Real-world tests at night scenes have verified its practicability and dependability.
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Prior correlation filter (CF)-based tracking methods for unmanned aerial vehicles (UAVs) have virtually focused on tracking in the daytime. However, when the night falls, the trackers will encounter more harsh scenes, which can easily lead to tracking failure. In this regard, this work proposes a novel tracker with anti-dark function (ADTrack). The proposed method integrates an efficient and effective low-light image enhancer into a CF-based tracker. Besides, a target-aware mask is simultaneously generated by virtue of image illumination variation. The target-aware mask can be applied to jointly train a target-focused filter that assists the context filter for robust tracking. Specifically, ADTrack adopts dual regression, where the context filter and the target-focused filter restrict each other for dual filter learning. Exhaustive experiments are conducted on typical dark sceneries benchmark, consisting of 37 typical night sequences from authoritative benchmarks, i.e., UAVDark, and our newly constructed benchmark UAVDark70. The results have shown that ADTrack favorably outperforms other state-of-the-art trackers and achieves a real-time speed of 34 frames/s on a single CPU, greatly extending robust UAV tracking to night scenes.
Unmanned aerial vehicle (UAV) based visual tracking has been confronted with numerous challenges, e.g., object motion and occlusion. These challenges generally introduce unexpected mutations of target appearance and result in tracking failure. However, prevalent discriminative correlation filter (DCF) based trackers are insensitive to target mutations due to a predefined label, which concentrates on merely the centre of the training region. Meanwhile, appearance mutations caused by occlusion or similar objects usually lead to the inevitable learning of wrong information. To cope with appearance mutations, this paper proposes a novel DCF-based method to enhance the sensitivity and resistance to mutations with an adaptive hybrid label, i.e., MSCF. The ideal label is optimized jointly with the correlation filter and remains temporal consistency. Besides, a novel measurement of mutations called mutation threat factor (MTF) is applied to correct the label dynamically. Considerable experiments are conducted on widely used UAV benchmarks. The results indicate that the performance of MSCF tracker surpasses other 26 state-of-the-art DCF-based and deep-based trackers. With a real-time speed of _38 frames/s, the proposed approach is sufficient for UAV tracking commissions.
Unmanned Aerial Vehicle (UAV) offers lots of applications in both commerce and recreation. With this, monitoring the operation status of UAVs is crucially important. In this work, we consider the task of tracking UAVs, providing rich information such as location and trajectory. To facilitate research on this topic, we propose a dataset, Anti-UAV, with more than 300 video pairs containing over 580k manually annotated bounding boxes. The releasing of such a large-scale dataset could be a useful initial step in research of tracking UAVs. Furthermore, the advancement of addressing research challenges in Anti-UAV can help the design of anti-UAV systems, leading to better surveillance of UAVs. Besides, a novel approach named dual-flow semantic consistency (DFSC) is proposed for UAV tracking. Modulated by the semantic flow across video sequences, the tracker learns more robust class-level semantic information and obtains more discriminative instance-level features. Experimental results demonstrate that Anti-UAV is very challenging, and the proposed method can effectively improve the trackers performance. The Anti-UAV benchmark and the code of the proposed approach will be publicly available at https://github.com/ucas-vg/Anti-UAV.
Images captured under low-light conditions often suffer from (partially) poor visibility. Besides unsatisfactory lightings, multiple types of degradations, such as noise and color distortion due to the limited quality of cameras, hide in the dark. In other words, solely turning up the brightness of dark regions will inevitably amplify hidden artifacts. This work builds a simple yet effective network for textbf{Kin}dling the textbf{D}arkness (denoted as KinD), which, inspired by Retinex theory, decomposes images into two components. One component (illumination) is responsible for light adjustment, while the other (reflectance) for degradation removal. In such a way, the original space is decoupled into two smaller subspaces, expecting to be better regularized/learned. It is worth to note that our network is trained with paired images shot under different exposure conditions, instead of using any ground-truth reflectance and illumination information. Extensive experiments are conducted to demonstrate the efficacy of our design and its superiority over state-of-the-art alternatives. Our KinD is robust against severe visual defects, and user-friendly to arbitrarily adjust light levels. In addition, our model spends less than 50ms to process an image in VGA resolution on a 2080Ti GPU. All the above merits make our KinD attractive for practical use.
Most existing Siamese-based tracking methods execute the classification and regression of the target object based on the similarity maps. However, they either employ a single map from the last convolutional layer which degrades the localization accuracy in complex scenarios or separately use multiple maps for decision making, introducing intractable computations for aerial mobile platforms. Thus, in this work, we propose an efficient and effective hierarchical feature transformer (HiFT) for aerial tracking. Hierarchical similarity maps generated by multi-level convolutional layers are fed into the feature transformer to achieve the interactive fusion of spatial (shallow layers) and semantics cues (deep layers). Consequently, not only the global contextual information can be raised, facilitating the target search, but also our end-to-end architecture with the transformer can efficiently learn the interdependencies among multi-level features, thereby discovering a tracking-tailored feature space with strong discriminability. Comprehensive evaluations on four aerial benchmarks have proven the effectiveness of HiFT. Real-world tests on the aerial platform have strongly validated its practicability with a real-time speed. Our code is available at https://github.com/vision4robotics/HiFT.
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