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visual object tracking and Servoing Control of a Nano-Scale Quadrotor:System,Algorithms,and Experiments

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 344-360页

作者： Yuzhen Liu Ziyang Meng Yao Zou Ming Cao the Department of Precision Instrument Tsinghua UniversityBeijing 100084China the School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 10083China the Institute of Engineering and Technology University of GroningenGroningen 9747AGThe Netherlands

There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging *** this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose *** order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing *** particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely ***,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive *** and accurate object tracking is achieved even under *** results are presented to demonstrate the high accuracy and stability of the whole tracking system.

关键词： Nano-scale quadrotor nonlinear control positionbased visual servoing visual object tracking

visual object tracking- classical and contemporary approaches

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Frontiers of Computer Science 2016年第1期10卷 167-188页

作者： Ahmad ALI Abdul JALIL Jianwei NIU Xiaoke ZHAO Saima RATHORE Javed AHMED Muhammad AKSAM IFTIKHAR Department of Computer and Information Sciences Pakistan Institute of Engineering & Applied Sciences Islamabad 44000 Pakistan State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and Engineering Beihang University Beijing 100191 China Department of Electrical (Telecom) Engineering NUST Military College of Signals Islamabad 44000 Pakistan COMSATS Institute of Information Technology Lahore 54000 Pakistan

visual object tracking （VOT） is an important sub- field of computer vision. It has widespread application do- mains, and has been considered as an important part of surveillance and security system. VOA facilitates finding the position of target in image coordinates of video frames. While doing this, VOA also faces many challenges such as noise, clutter, occlusion, rapid change in object appearances, highly maneuvered （complex） object motion, illumination changes. In recent years, VOT has made significant progress due to availability of low-cost high-quality video cameras as well as fast computational resources, and many modern techniques have been proposed to handle the challenges faced by VOT. This article introduces the readers to 1） VOT and its applica- tions in other domains, 2） different issues which arise in it, 3） various classical as well as contemporary approaches for object tracking, 4） evaluation methodologies for VOT, and 5） online resources, i.e., annotated datasets and source code available for various tracking techniques.

关键词： visual object tracking computer vision imageprocessing point tracking kernel tracking silhouette track-ing

Enhancing the Robustness of visual object tracking via Style Transfer

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Computers, Materials & Continua 2022年第1期70卷 981-997页

作者： Abdollah Amirkhani Amir Hossein Barshooi Amir Ebrahimi School of Automotive Engineering Iran University of Science and TechnologyTehran16846-13114Iran School of Electrical Engineering and Computing The University of NewcastleCallaghan2308Australia

The performance and accuracy of computer vision systems are affected by noise in different *** numerous solutions and algorithms have been presented for dealing with every type of noise,a comprehensive technique that can cover all the diverse noises and mitigate their damaging effects on the performance and precision of various systems is still *** this paper,we have focused on the stability and robustness of one computer vision branch(i.e.,visual object tracking).We have demonstrated that,without imposing a heavy computational load on a model or changing its algorithms,the drop in the performance and accuracy of a system when it is exposed to an unseen noise-laden test dataset can be prevented by simply applying the style transfer technique on the train dataset and training the model with a combination of these and the original untrained *** verify our proposed approach,it is applied on a generic object tracker by using regression *** method’s validity is confirmed by testing it on an exclusive benchmark comprising 50 image sequences,with each sequence containing 15 types of noise at five different intensity *** OPE curves obtained show a 40%increase in the robustness of the proposed object tracker against noise,compared to the other trackers considered.

关键词： Style transfer visual object tracking robustness corruption

Masked Autoencoders as Single object tracking Learners

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Computers, Materials & Continua 2024年第7期80卷 1105-1122页

作者： Chunjuan Bo XinChen Junxing Zhang School of Information and Communication Engineering Dalian Minzu UniversityDalian116600China School of Information and Communication Engineering Dalian University of TechnologyDalian116024China

Significant advancements have beenwitnessed in visual tracking applications leveragingViT in recent years,mainly due to the formidablemodeling capabilities of Vision Transformer(ViT).However,the strong performance of such trackers heavily relies on ViT models pretrained for long periods,limitingmore flexible model designs for tracking *** address this issue,we propose an efficient unsupervised ViT pretraining method for the tracking task based on masked autoencoders,called *** pretraining,we employ two shared-parameter ViTs,serving as the appearance encoder and motion encoder,*** appearance encoder encodes randomly masked image data,while the motion encoder encodes randomly masked pairs of video ***,an appearance decoder and a motion decoder separately reconstruct the original image data and video frame data at the pixel *** this way,ViT learns to understand both the appearance of images and the motion between video frames *** results demonstrate that ViT-Base and ViT-Large models,pretrained with TrackMAE and combined with a simple tracking head,achieve state-of-the-art(SOTA)performance without additional ***,compared to the currently popular MAE pretraining methods,TrackMAE consumes only 1/5 of the training time,which will facilitate the customization of diverse models for *** instance,we additionally customize a lightweight ViT-XS,which achieves SOTA efficient tracking performance.

关键词： visual object tracking vision transformer masked autoencoder visual representation learning

Optimal Positioning Strategy for Multi-Camera Zooming Drones

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1802-1818页

作者： Manuel Vargas Carlos Vivas Teodoro Alamo Department of System Engineering and Automation University of SevilleSeville 41092Spain

In the context of multiple-target tracking and surveillance applications,this paper investigates the challenge of determining the optimal positioning of a single autonomous aerial vehicle or agent equipped with multiple independently-steerable zooming cameras to effectively monitor a set of targets of *** camera is dedicated to tracking a specific target or cluster of *** key innovation of this study,in comparison to existing approaches,lies in incorporating the zooming factor for the onboard cameras into the optimization *** enhancement offers greater flexibility during mission execution by allowing the autonomous agent to adjust the focal lengths of the onboard cameras,in exchange for varying real-world distances to the corresponding targets,thereby providing additional degrees of freedom to the optimization *** proposed optimization framework aims to strike a balance among various factors,including distance to the targets,verticality of viewpoints,and the required focal length for each *** primary focus of this paper is to establish the theoretical groundwork for addressing the non-convex nature of the optimization problem arising from these *** this end,we develop an original convex approximation *** paper also includes simulations of diverse scenarios,featuring varying numbers of onboard tracking cameras and target motion profiles,to validate the effectiveness of the proposed approach.

关键词： Convex optimization projective transformation unmanned aerial vehicle visual object tracking visual surveillance.

Long-term visual tracking: Review and Experimental Comparison

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Machine Intelligence Research 2022年第6期19卷 512-530页

作者： Chang Liu Xiao-Fan Chen Chun-Juan Bo Dong Wang School of Information and Communication Engineering Dalian University of TechnologyDalian 116024China Dalian Minzu University Dalian 116600China

As a fundamental task in computer vision,visual object tracking has received much attention in recent *** studies focus on short-term visual tracking which addresses shorter videos and always-visible ***,long-term visual tracking is much closer to practical applications with more complicated *** exists a longer duration such as minute-level or even hour-level in the long-term tracking task,and the task also needs to handle more frequent target disappearance and *** this paper,we provide a thorough review of long-term tracking,summarizing long-term tracking algorithms from two perspectives:framework architectures and utilization of intermediate tracking *** we provide a detailed description of existing benchmarks and corresponding evaluation ***,we conduct extensive experiments and analyse the performance of trackers on six benchmarks:VOTLT2018,VOTLT2019(2020/2021),OxUvA,LaSOT,TLP and the long-term subset of ***,we discuss the future prospects from multiple perspectives,including algorithm design and benchmark *** our knowledge,this is the first comprehensive survey for long-term visual object *** relevant content is available at https://***/wangdongdut/Long-term-visual-tracking.

关键词： visual object tracking long-term tracking short-term tracking re-detection online update

A Robotic Teleoperation System for Precise Robotic Manipulation by Human-Machine Interaction

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上海航天（中英文） 2022年第4期39卷 114-127页

作者： SUN Fuchun GUO Di CHEN Yang Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China

Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot *** provides a way for people to control robots remotely using human *** this paper,a robotic teleoperation system for precise robotic manipulation is *** data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control *** control system and the monitor system are designed for the remote precise *** monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running ***,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy *** established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.

关键词： teleoperation human-machine interaction precise manipulation visual object tracking robotich and manipulation

Real-Time Possessing Relationship Detection for Sports Analytics

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Real-Time Possessing Relationship Detection for Sports Analy...