Toward Real-Time UAV Multi-Target Tracking Using Joint Detection and Tracking

Abstract

Multiple object tracking (MOT) of unmanned aerial vehicle (UAV) systems is essential for both defense and civilian applications. As drone technology moves towards real-time, conventional tracking algorithms cannot be directly applied to UAV videos due to limited computational resources and the unstable movements of UAVs in dynamic environments. These challenges lead to blurry video frames, object occlusion, scale changes, and biased data distribution of object classes and samples, resulting in poor tracking accuracy for non-representative classes. Therefore, in this study, we present a deep learning multiple object tracking model for UAV aerial videos to achieve real-time performance. Our approach combines detection and tracking methods using adjacent frame pairs as inputs with shared features to reduce computational time. We also employed a multi-loss function to address the imbalance between the challenging classes and samples. To associate objects between frames, a dual regression bounding box method that considers the center distance of objects rather than just their areas was adopted. This enables the proposed model to perform object ID verification and movement forecasting via single regression. In addition, our model can perform online tracking by predicting the position of an object within the next video frame. By exploiting both low- and high-quality detection techniques to locate the same object across frames, more accurate tracking of objects within the video is attained. The proposed method achieved real-time tracking with a running time of 77 frames per second. The testing results have demonstrated that our approach outperformed the state-of-the-art on the VisDrone2019 test-dev dataset for all ten object categories. In particular, the multiple object tracking accuracy (MOTA) score and the F1 score both increased in comparison to earlier work by 8.7 and 5.3 percent, respectively.