时序信息引导跨视角特征融合的多无人机多目标跟踪方法

伍瀚; 孙浩; 计科峰; 匡纲要

doi:10.12263/DZXB.20240727

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时序信息引导跨视角特征融合的多无人机多目标跟踪方法

面向无人系统的智能视觉算法 | 更新时间：2025-12-08

- 时序信息引导跨视角特征融合的多无人机多目标跟踪方法
- Temporal-Guided Cross-View Feature Fusion Network for Multi-Drone Multi-Object Tracking
- 电子学报 2025年53卷第3期页码：728-743
- 作者机构：
  
  国防科技大学电子科学学院电子信息系统复杂电磁环境效应国家重点实验室，湖南长沙 410073
- 作者简介：
  
  [ "伍瀚男，1999年生，湖南邵阳人.国防科技大学电子科学学院CEMEE国家重点实验室在读博士研究生.主要研究方向为多源影像智能处理、视频目标检测与跟踪、机器学习与神经网络.E-mail: wuhan0326@nudt.edu.cn" ]
  [ "孙浩男，1984年生，陕西三原人.博士，国防科技大学电子科学学院CEMEE国家重点实验室副教授.主要研究方向为多源遥感图像协同解译与语义挖掘." ]
  计科峰
- 基金信息：
  
  国家自然科学基金(61971426)
- DOI：10.12263/DZXB.20240727
  中图分类号： TP391.41;
- 收稿：2024-08-01，
  
  修回：2024-10-30，
  
  纸质出版：2025-03-25
- 稿件说明：
移动端阅览
伍瀚, 孙浩, 计科峰, 等. 时序信息引导跨视角特征融合的多无人机多目标跟踪方法[J]. 电子学报, 2025, 53(03): 728-743.

WU Han, SUN Hao, JI Ke-feng, et al. Temporal-Guided Cross-View Feature Fusion Network for Multi-Drone Multi-Object Tracking[J]. Acta Electronica Sinica, 2025, 53(03): 728-743.
伍瀚, 孙浩, 计科峰, 等. 时序信息引导跨视角特征融合的多无人机多目标跟踪方法[J]. 电子学报, 2025, 53(03): 728-743. DOI：10.12263/DZXB.20240727

WU Han, SUN Hao, JI Ke-feng, et al. Temporal-Guided Cross-View Feature Fusion Network for Multi-Drone Multi-Object Tracking[J]. Acta Electronica Sinica, 2025, 53(03): 728-743. DOI：10.12263/DZXB.20240727

摘要

多无人机多目标跟踪旨在从多架无人机同时捕获的视频中预测所有目标的轨迹和身份标识，以解决单个无人机视频受遮挡和杂乱背景等干扰时跟踪性能衰退的问题.然而，不同无人机捕获的图像视角和尺度差异通常较大，导致对齐和融合不同无人机图像特征困难.针对该问题，本文提出一种通过时序信息引导跨视角特征融合的跟踪算法——TCFNet.该算法首先设计一种目标感知的对齐网络（Object-aware Alignment Network，OAN），利用跟踪过程中的目标轨迹先验估计先前时刻不同视角无人机视频帧间的转换关系.其次，构建一种时序感知的对齐网络（Temporal-aware Alignment Network，TAN），探索前后时刻同一架无人机捕获图像的信息对不同视角图像的转换关系进行精调.最后，基于OAN和TAN估计的不同无人机图像间的转换关系，设计一个跨机特征融合网络（Cross-drone Feature Fusion Network，CFFN）对不同无人机捕获的视觉信息进行融合，解决复杂场景下模型跟踪性能衰退的问题.在MDMT数据集上的实验结果表明，所提出的TCFNet相比其他主流的跟踪方法更具竞争力，在跟踪准确率、识别F1值和多机目标关联分数上超出当前的先进算法2.23、1.67和2.15个百分点.

Abstract

Multi-drone multi-object tracking aims to predict the tracklets and identities of all targets from videos simultaneously captured by multiple drones

which alleviates the tracking performance degradation when individual drone videos suffer from challenges such as occlusion and cluttered backgrounds. However

the differences in viewpoints and scales of images captured by different drones are usually large

resulting in significant difficulties for aligning and fusing cross-drone features. To address this problem

we propose a novels tracker based on cross-view feature fusion guided by temporal information. It first designs an object-aware alignment network (OAN) that utilizes the tracklet prior during tracking to estimate the transformation relationships between cross-drone frames at previous moments. Then

a temporal-aware alignment network (TAN) is constructed to explore the information of single-drone images in the before-and-after moments to fine-tune the transformation relationship across the images. Finally

based on the cross-drone image transformation relationship estimated by OAN and TAN

this paper presents a cross-drone feature fusion network (CFFN) to fuse the visual information captured by multiple drones

which mitigates the tracking performance degradation in complex scenes. Experimental results on the MDMT dataset show that the proposed TCFNet is more competitive than existing mainstream trackers

exceeding current state-of-the-art model by 2.23

1.67

and 2.15 percentage points in terms of tracking accuracy

identification F1 score

and multi-device association score.

关键词

Keywords

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