基于深度学习的无人机航拍视频多目标检测与跟踪研究进展  

Research progress of UAV aerial video multi⁃object detection and tracking based on deep learning

作　　者：苑玉彬 吴一全[1] 赵朗月 陈金林 赵其昌 YUAN Yubin;WU Yiquan;ZHAO Langyue;CHEN Jinlin;ZHAO Qichang(College of Electronic and Information Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学电子信息工程学院,南京211106

出　　处：《航空学报》2023年第18期1-31,共31页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61573183)。

摘　　要：随着无人机航拍的数据采集愈加便捷,以无人机为平台的多目标检测与跟踪技术发展迅速,在智慧城市、环境监测、地质探测、精准农业和灾害预警等民用和军事领域有着广泛的应用前景,近年来深度学习的突飞猛进也为其提供了多种更为有效的解决思路。然而,无人机视角下目标外观发生突变、目标区域被严重遮挡以及目标消失和重现等挑战性的问题尚未完全解决。综述了基于深度学习的无人机航拍视频多目标检测与跟踪算法,总结了该领域的最新进展,包括多目标检测、多目标跟踪2个模块。多目标检测模块划分为双阶段与单阶段两个部分。对于多目标跟踪模块则依据基于检测的跟踪和联合检测的跟踪2个经典框架,分别阐述了2类算法的原理并分析其优缺点。随后对现有的公开数据集进行统计分析,并对基于无人机航拍视频的多目标检测与跟踪领域内标杆挑战赛VisDrone Challenge近年来的最优方案进行了对比分析。最后总结了无人机视角下多目标检测与跟踪亟待解决的问题并展望未来可能的研究方向,为后续相关研究的人员提供参考。With the increasing convenience of data acquisition for aerial photography of Unmanned Aerial Vehicle(UAV),the multi-target detection and tracking technology based on the UAV platform has developed rapidly and has broad prospects for applications in civil and military fields.In recent years,the rapid progress of in-depth learning has also provided a variety of more effective solutions.However,the challenging problems such as sudden changes in the appearance of the target,serious occlusion of the target area,and disappearance and reappearance of the target from the perspective of UAV have not been completely solved.In this paper,we summarize the algorithms for multitarget detection and tracking in UAV aerial video based on deep learning,and summarize the latest progress in this field,including multi-target detection and multi-object tracking.The multi-object detection module is divided into two parts:two-stage and one-stage detection.For the multi-object tracking module,according to the two classical frame⁃works of tracking-based detection and joint-detection tracking,the principles of the two algorithms are described and their advantages and disadvantages are analyzed.Then,the existing public data sets are statistically analyzed,and the optimal schemes of the benchmark challenge VisDrone Challenge in the field of multi-target detection and tracking based on UAV aerial video in recent years are compared and analyzed.Finally,the paper discusses the urgent prob⁃lems of multi-object detection and tracking from the perspective of UAV and the possible research directions in the fu⁃ture,providing a reference for the follow-up researchers.

关 键 词：无人机航拍视频 多目标检测 多目标跟踪 深度学习 单阶段检测 双阶段检测 检测跟踪 联合检测跟踪 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP391[自动化与计算机技术—计算机应用技术]