Acta Aeronautica et Astronautica Sinica ›› 2024, Vol. 45 ›› Issue (16): 329834-329834.doi: 10.7527/S1000-6893.2024.29834
• Electronics and Electrical Engineering and Control • Previous Articles
Received:
2023-11-06
Revised:
2023-12-06
Accepted:
2024-02-28
Online:
2024-03-13
Published:
2024-03-11
Contact:
Jian CHEN
E-mail:jchen@cau.edu.cn
Supported by:
CLC Number:
Xinyu XU, Jian CHEN. UAV object tracking for air⁃ground targets based on status detection and Kalman filter[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(16): 329834-329834.
Table 3
Data on tracking performance of four trackers in different scenarios of UAV123
跟踪器 | ARC | BC | CM | FM | FOC | IV | LR | OV | POC | SOB | SV | VC |
---|---|---|---|---|---|---|---|---|---|---|---|---|
精确率/% | ||||||||||||
KPsiamfc | 57.5 | 39.9 | 54.3 | 46.7 | 48.9 | 54.3 | 61.7 | 54.4 | 61.6 | |||
siamfc_peaks | 55.3 | 35.7 | 56.7 | 45.8 | 43.8 | 53.7 | 51.1 | 60.1 | 60.6 | |||
siamkal | 55.5 | 37.2 | 54.2 | 43.8 | 45.7 | 52.8 | 60.7 | 50.5 | 59.1 | |||
siamfc | 55.2 | 37.9 | 54.9 | 43.6 | 45.1 | 52.3 | 50.1 | 57.7 | 60.3 | |||
跟踪器 | 成功率/% | |||||||||||
KPsiamfc | 40.8 | 25.8 | 38.2 | 29.2 | 34.0 | 34.3 | 38.9 | 45.0 | ||||
siamfc_peaks | 39.0 | 22.9 | 39.8 | 27.9 | 30.8 | 34.2 | 36.5 | 42.1 | 43.8 | |||
siamkal | 39.1 | 23.6 | 38.4 | 26.9 | 31.7 | 33.6 | 36.0 | 41.4 | 43.5 | |||
siamfc | 38.9 | 24.2 | 38.1 | 26.9 | 31.0 | 33.3 | 35.7 | 40.7 | 43.2 |
Table 6
Data of tracking performance of KPsiamfc and siamfc in the customized UAV dataset for each scenario
场景属性 | siamfc | KPsiamfc | 与siamfc相比 | |||
---|---|---|---|---|---|---|
精确率/% | 成功率/% | 精确率/% | 成功率/% | 精确率/% | 成功率/% | |
光照变化 | 13.6 | 14.8 | 14.3 | 15.9 | +0.7 | +1.1 |
背景杂波 | 58.0 | 46.8 | 59.5 | 48.2 | +1.5 | +1.4 |
相似目标干扰 | 72.5 | 57.6 | 81.4 | 64.5 | +8.9 | +6.9 |
遮挡 | 46.3 | 34.9 | 59.7 | 45.7 | +13.4 | +10.8 |
快速移动 | 66.3 | 57.8 | 66.5 | 58.3 | +0.2 | +0.5 |
小目标 | 66.0 | 53.8 | 73.5 | 59.8 | +13.5 | +6 |
姿态变化明显 | 70.0 | 62.7 | 72.4 | 65.0 | +2.4 | +2.3 |
离开视野 | 50.4 | 36.0 | 57.0 | 42.9 | +6.6 | +6.9 |
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