Visual Ground Target Tracking of Unmanned Aerial Vehicle Based on Target Motion Model

Ang Su; Weikang Lu; Shilin Zhang; Zhang Li

doi:10.3788/LOP202259.1415022

Laser & Optoelectronics Progress, Volume. 59, Issue 14, 1415022(2022)

Visual Ground Target Tracking of Unmanned Aerial Vehicle Based on Target Motion Model

Ang Su^1,2、*, Weikang Lu^1,2, Shilin Zhang¹, and Zhang Li^1,2

¹College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, Hunan , China

²Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha 410073, Hunan , China

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Figures & Tables(9)

Fig. 1. Result of mapping the historical position of the target to the current reference frame according to homography transformation

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Fig. 2. Flowchat of the target tracking algorithm

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Fig. 3. Object tracking results of video sequence Seq 3

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Fig. 4. Object tracking results of video sequence Seq 8

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Fig. 5. Experiment results of object tracking success rate and precision on collected dataset. (a) Success rate; (b) precision

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Fig. 6. Experiment results of object tracking success rate and precision on VisDrone2019 partial video sequences. (a) Success rate; (b) precision

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Fig. 7. Object tracking results of video sequence in VisDrone2019 dataset. (a) Seq 1; (b) Seq 2; (c) Seq 3

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Table 1. Target tracking results for real videos captured by unmanned aerial vehicle

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Table 1. Target tracking results for real videos captured by unmanned aerial vehicle

Sequence	KCF	fDSST	ECO	TLD	MUSTer	LCT	Ours	Ours_450
Success times	3	5	5	10	8	4	8	10
Seq 1 （400 frames）	√	√	×	√	√	√	√	√
Seq 2 （400 frames）	×	√	×	√	√	√	√	√
Seq 3 （500 frames）	×	×	√	√	√	×	√	√
Seq 4 （900 frames）	×	×	×	√	√	×	×	×
Seq 5 （300 frames）	√	√	√	√	√	√	√	√
Seq 6 （400 frames）	×	√	√	√	√	×	√	√
Seq 7 （500 frames）	×	×	√	√	√	×	√	√
Seq 8 （300 frames）	×	×	×	√	×	×	√	√
Seq 9 （250 frames）	√	√	√	√	×	√	√	√
Seq 10 （300 frames）	×	×	×	√	√	×	×	√
Seq 11 （650 frames）	×	×	×	×	×	×	×	√

Table 2. Tracking speed of different algorithms
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Table 2. Tracking speed of different algorithms
Parameter KCF fDSST ECO TLD MUSTer LCT Ours Ours_450
Speed /（frame·s^-1） 240.3 139.0 50.5 3.8 0.7 32.4 52.3 30.2

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Ang Su, Weikang Lu, Shilin Zhang, Zhang Li. Visual Ground Target Tracking of Unmanned Aerial Vehicle Based on Target Motion Model[J]. Laser & Optoelectronics Progress, 2022, 59(14): 1415022

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