In the realm of unmanned aerial vehicle (UAV) tracking, Siamese-based approaches have gained traction due to their optimal balance between efficiency and precision. However, UAV scenarios often present challenges such as insufficient sampling resolution, fast motion and small objects with limited feature information. As a result, temporal context in UAV tracking tasks plays a pivotal role in target location, overshadowing the target’s precise features. In this paper, we introduce MT-Track, a streamlined and efficient multi-step temporal modeling framework designed to harness the temporal context from historical frames for enhanced UAV tracking. This temporal integration occurs in two steps: correlation map generation and correlation map refinement. Specifically, we unveil a unique temporal correlation module that dynamically assesses the interplay between the template and search region features. This module leverages temporal information to refresh the template feature, yielding a more precise correlation map. Subsequently, we propose a mutual transformer module to refine the correlation maps of historical and current frames by modeling the temporal knowledge in the tracking sequence. This method significantly trims computational demands compared to the raw transformer. The compact yet potent nature of our tracking framework ensures commendable tracking outcomes, particularly in extended tracking scenarios. Comprehensive tests across four renowned UAV benchmarks substantiate the superior efficacy of our approach, delivering real-time performance at 84.7 FPS on a single GPU. Real-world test on the NVIDIA AGX hardware platform achieves a speed exceeding 30 FPS, validating the practicality of our method.

With the growing threat of unmanned aerial vehicle (UAV) intrusions, the topic of anti-UAV tracking has received widespread attention from the community. Traditional Siamese trackers struggle with small UAV targets and are plagued by model degradation issues. To mitigate this, we propose a novel searching region-free and template-free Siamese network (SiamSRT) to track UAV targets in thermal infrared (TIR) videos. The proposed tracker builds a two-stage Siamese architecture with the former providing detection of the first-frame ground truth by using a cross-correlated region proposal network (C-C RPN) and the latter providing detection of previous-frame predictions via a similarity-learning region convolutional neural network (S-L RCNN). In both stage, global proposals are acquired by region of interest (ROI) alignment operation to break the limitation of searching region. Then, a spatial location consistency function is introduced to suppress background thermal distractors and a temporal memory bank (TMB) is utilized to avoid template update degradation problem. Further, a single-category foreground detector (SCFD) is designed to independently predict the position of the UAV target. SCFD can re-initialize the tracker without the given target in the first frame, which can help to recover the tracking failures. Comprehensive experiments demonstrate that SiamSRT achieves the best performance compared to the most advanced algorithms in the anti-UAV tracking missions.

Siamese network-based trackers have shown remarkable success in aerial tracking. Most previous works, however, usually perform template matching only between the initial template and the search region and thus fail to deal with rapidly changing targets that often appear in aerial tracking. As a remedy, this work presents Building Appearance Collection Tracking (BACTrack). This simple yet effective tracking framework builds a dynamic collection of target templates online and performs efficient multi-template matching to achieve robust tracking. Specifically, BACTrack mainly comprises a Mixed-Temporal Transformer (MTT) and an appearance discriminator. The former is responsible for efficiently building relationships between the search region and multiple target templates in parallel through a mixed-temporal attention mechanism. At the same time, the appearance discriminator employs an online adaptive template-update strategy to ensure that the collected multiple templates remain reliable and diverse, allowing them to closely follow rapid changes in the target’s appearance and suppress background interference during tracking. Extensive experiments show that our BACTrack achieves top performance on four challenging aerial tracking benchmarks while maintaining an impressive speed of over 87 FPS on a single GPU. Speed tests on embedded platforms also validate our potential suitability for deployment on UAV platforms.

The popularity of unmanned aerial vehicles (UAVs) has made anti-UAV technology increasingly urgent. Object tracking, especially in thermal infrared videos, offers a promising solution to counter UAV intrusion. However, troublesome issues such as fast motion and tiny size make tracking infrared drone targets difficult and challenging. This work proposes a simple and effective spatio-temporal attention based Siamese method called SiamSTA, which performs reliable local searching and wide-range re-detection alternatively for robustly tracking drones in the wild. Concretely, SiamSTA builds a two-stage re-detection network to predict the target state using the template of first frame and the prediction results of previous frames. To tackle the challenge of small-scale UAV targets for long-range acquisition, SiamSTA imposes spatial and temporal constraints on generating candidate proposals within local neighborhoods to eliminate interference from background distractors. Complementarily, in case of target lost from local regions due to fast movement, a third stage re-detection module is introduced, which exploits valuable motion cues through a correlation filter based on change detection to re-capture targets from a global view. Finally, a state-aware switching mechanism is adopted to adaptively integrate local searching and global re-detection and take their complementary strengths for robust tracking. Extensive experiments on three anti-UAV datasets nicely demonstrate SiamSTA’s advantage over other competitors. Notably, SiamSTA is the foundation of the 1st-place winning entry in the 2nd Anti-UAV Challenge.

Label noise and class imbalance are common challenges encountered in real-world datasets. Existing approaches for robust learning often focus on addressing either label noise or class imbalance individually, resulting in suboptimal performance when both biases are present. To bridge this gap, this work introduces a novel meta-learning-based dynamic loss that adapts the objective functions during the training process to effectively learn a classifier from long-tailed noisy data. Specifically, our dynamic loss consists of two components: a label corrector and a margin generator. The label corrector is responsible for correcting noisy labels, while the margin generator generates per-class classification margins by capturing the underlying data distribution and the learning state of the classifier. In addition, we employ a hierarchical sampling strategy that enriches a small amount of unbiased metadata with diverse and challenging samples. This enables the joint optimization of the two components in the dynamic loss through meta-learning, allowing the classifier to effectively adapt to clean and balanced test data. Extensive experiments conducted on multiple real-world and synthetic datasets with various types of data biases, including CIFAR-10/100, Animal-10N, ImageNet-LT, and Webvision, demonstrate that our method achieves state-of-the-art accuracy.

Unmanned aerial vehicle (UAV) tracking focus on tracking moving targets from flying platforms, where the target undergoes a lot of aspect ratio changes, that is, viewpoint change and rotation. The discriminative correlation filter (DCF)-based method shows a promising solution to UAV tracking due to its high computational efficiency. DCF-based trackers apply a fixed-bandwidth Gaussian function label for model training and incremental update to adapt to the dramatic appearance changes in the target during tracking. However, due to the poor regression ability of the correlation filter, DCF trackers are unable to describe the target state when the aspect ratio changes, thus hurting the tracking performance. To alleviate this, we propose a novelty correlation filter, which constructs a Gaussian-like (GL) function label for correlation filter training. The label fully considers the aspect ratio distribution of the target, which facilitates the training of a more robust tracker. Furthermore, an accurate incremental update is proposed to mitigate model degradation by combining target samples with adaptive aspect ratios. Extensive experiments are conducted on three popular UAV benchmarks, that is, VisDrone2018-test-dev, UAV20L, and DTB70. Results well demonstrate the superiority of the proposed method over both DCF and deep-based trackers.