Anti-Occlusion UAV Tracking Algorithm with a Low-Altitude Complex Background by Integrating Attention Mechanism
Abstract
:1. Introduction
2. Related Works
2.1. Algorithm Based on Correlation Filter
2.2. Algorithm Based on Siamese Network
3. Anti-Occlusion UAV Tracking Algorithm by Integrating Attention Mechanism
3.1. Squeeze-and-Excitation (SE) Module
3.2. Occlusion-Sensing Module
3.3. UAV Trajectory Prediction Based on LSTM
3.4. Comprehensive Scheme and Algorithm Implementation
Algorithm 1 Proposed UAV tracking algorithm. |
Input: Target position and the size of bounding box in the first frame. |
Output: Target position and the size of bounding box in the frame. |
1: Initialize , , t, . |
2: fordo |
3: Extract the area of size as search area with coordinates in the frame. |
4: Extract features in search area by the backbone. |
5: Generate response graph using classified regression filter. |
6: Calculate A and using Equations (5) and (6). |
7: if then |
8: Call LSTM trajectory prediction algorithm, enter , and output . |
9: else |
10: Output classification regression filter response graph corresponding position . |
11: end if |
12: Extract multiple bounding boxes of different scales with as the coordinate origin, and calculate the scores. The bounding box with the highest score corresponds to the and of the target in the frame. |
13: end for |
4. Experimental Results and Analysis
4.1. Experimental Environment and Parameters Setting
4.2. Comparison and Analysis of Experimental Results
4.2.1. Experiment on OTB-100 Dataset
4.2.2. Experiment on GOT-10k Dataset
4.2.3. Experiment on Integrated UAV Dataset
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Acknowledgments
Conflicts of Interest
References
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Wang, C.; Shi, Z.; Meng, L.; Wang, J.; Wang, T.; Gao, Q.; Wang, E. Anti-Occlusion UAV Tracking Algorithm with a Low-Altitude Complex Background by Integrating Attention Mechanism. Drones 2022, 6, 149. https://doi.org/10.3390/drones6060149
Wang C, Shi Z, Meng L, Wang J, Wang T, Gao Q, Wang E. Anti-Occlusion UAV Tracking Algorithm with a Low-Altitude Complex Background by Integrating Attention Mechanism. Drones. 2022; 6(6):149. https://doi.org/10.3390/drones6060149
Chicago/Turabian StyleWang, Chuanyun, Zhongrui Shi, Linlin Meng, Jingjing Wang, Tian Wang, Qian Gao, and Ershen Wang. 2022. "Anti-Occlusion UAV Tracking Algorithm with a Low-Altitude Complex Background by Integrating Attention Mechanism" Drones 6, no. 6: 149. https://doi.org/10.3390/drones6060149