面向无人机视觉制导的自适应目标跟踪方法  

Guidance-Tracker:An Adaptive UAV Siamese Tracker for Visual Guidance

作　　者：杨绪祺 谭启凡 苏航 谭浩[2] YANG Xuqi;TAN Qifan;SU Hang;TAN Hao(School of Information and Electronics,Beijing Institute of Technology,Beijing 100081,China;Intelligent Collaborative Perception and Analytical Cognition Laboratory,100124;School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;School of Future Aerospace Technology,Beihang University,Beijing 100191,China)

机构地区：[1]北京理工大学,信息与电子学院,北京100081 [2]智能协同感知与分析认知实验室,北京100124 [3]北京交通大学,机械与电子控制工程学院,北京100044 [4]北京航空航天大学,未来空天技术学院,北京100191

出　　处：《兵工学报》2025年第2期65-75,共11页Acta Armamentarii

基　　金：计量与校准技术重点实验室开放研究基金(JLKG2021001B001);中央高校基本科研业务费专项资金资助(2024JBZX010)。

摘　　要：为解决无人机制导中跟踪目标尺度变化大、外形变化大、推理速度慢、数据集缺失的问题,提出了一种面向无人机视觉制导的自适应目标跟踪方法。自适应搜索区域机制通过分析制导过程调整搜索区域解决尺度变化快的问题;自适应模板更新机制通过更新模板特征解决外形变化大的问题。此外,该方法在骨干网络引入FasterNet Block,在跟踪头引入无锚机制,减少推理的时间。最后,构建并公开了一个包含12个制导视频的测试数据集Guidance UAV以评估算法在视觉制导中的性能。实验结果表明,该方法不仅在通用无人机跟踪数据集UAV123上适用,而且在Guidance UAV上实现了最先进的性能,同时在机载设备Jetson Xavier NX上保持15 f/s的速度。室内无人机制导打击实验证明了算法的有效性。Object tracking is an important part of UAV visual guidance,and the tracking accuracy determines the combat effectiveness of UAVs on the battlefield.There are many problems with general object tracking in UAV guidance:fast scale change,large appearance change,slow inference speed and lack of dataset.In order to solve the problems,this paper proposes Guidance-Tracker,an adaptive UAV siamese tracker for visual guidance.The adaptive search region mechanism adjusts the search region to fit the fast scale change by analyzing the guidance process,and the adaptive template updating mechanism updates the template feature to fit large appearance change.Besides,FasterNet Block and anchor-free mechanism are respectively introduced in the backbone network and the tracking head to speed up the inference time.In addition,an object tracking test dataset Guidance UAV for visual guidance,which contains 12 videos,is constructed to evaluate the performance of trackers in visual guidance.The experiment results indicate that Guidance-Tracker is not only suitable for use on the general UAV tracking dataset UAV123,but also achieves state-of-the-art performance on the Guidance UAV,while maintaining a speed of 15 f/s on the onboard device Jetson Xavier NX.The indoor guidance experiments shows the effectiveness of the Guidance Tracker.

关 键 词：视觉制导 目标跟踪 无人机 自适应 模板更新 搜索区域 

分 类 号：TJ768[兵器科学与技术—武器系统与运用工程]