基于频域特征和Transformer的无人机目标跟踪算法

doi:10.7527/S1000-6893.2025.32791

Abstract

Abstract:

With the rapid development of Unmanned Aerial Vehicle （UAV） technology， target tracking has become one of the key techniques in UAV applications. To address challenges such as occlusion， deformation， scale variation， and multi-view changes in UAV target tracking， this paper proposes a UAV target tracking algorithm based on frequency-domain feature and Transformer architecture. First， a distilled Transformer network is employed to extract global spatial features from images， and an adaptive frequency-domain deep network is employed to capture detailed frequency-domain features. meanwhile， a learning image is introduced at the input stage to capture the correlation between the target template and the search region， thereby updating the initial target template and enhancing target representation. Second， a multi-view invariant feature learning strategy based on mutual information maximization is proposed. By maximizing the mutual information between the target template and the search template， a novel loss function is designed to improve the network’s robustness against target appearance variations. Finally， the target position is determined according to the feature responses of the learning image. Simulation results demonstrate that the proposed algorithm effectively improves UAV target tracking accuracy and exhibits strong robustness under complex scenarios.

Key words: machine vision, unmanned aerial vehicle, target tracking, frequency-domain feature, deep network

CLC Number:

V279

Fang LIU, Jinghu CUI, Chenyang LU, Xin WANG, Zhaohui PU. A UAV target tracking algorithm based on frequency-domain feature and transformer[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(8): 332791.

Figures/Tables 7

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Table 1

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References 33

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实验序号	普通模板更新	自适应频域感知网络	多视角不变特征学习策略	学习图像更新模板	AO/%	SR_0.5/%	GPU FPS	参数量/M
1	√	×	×	×	71.7	80.2	165	20
2	√	√	×	×	73.3	83.4	152	26
3	√	√	√	×	74.5	84.8	151	27
4	×	√	√	√	74.6	84.2	156	24

跟踪算法	OTB70		LaSOT		UAV123		GPU FPS/ （帧·s^-1）
跟踪算法	精度/%	成功率/%	精度/%	成功率/%	精度/%	成功率/%	GPU FPS/ （帧·s^-1）
Ours	82.1	63.9	66.5	64.0	90.2	68.8	156
F-Resnet			62.0	59.9	77.2
SpectralTracker			69.1	65.7	78.2	67.4	52
IRE-UFT					69.1	65.3
SMAT	81.9	63.8	64.6	61.7	81.8	64.6	124
DiMP			56.7	56.9		65.4	77
TCTrack	81.2	62.2			80.8	60.6	139
ABDNet	76.8	59.6			79.3	60.7	130
FEAT-L			60.9	57.9	86.6	65.8	80
HCAT	60.6	58.3	60.5	59.0	63.6		195
FDSST	53.4	35.7			58.3	40.5
AutoTrack	71.6	47.8			68.9	47.2	58

A UAV target tracking algorithm based on frequency-domain feature and transformer

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