Resource-Efficient RGBD Aerial Tracking

Jinyu Yang, Shang Gao, Zhe Li, Feng Zheng*, Ales Leonardis

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

Aerial robots are now able to fly in complex environments, and drone-captured data gains lots of attention in object tracking. However, current research on aerial perception has mainly focused on limited categories, such as pedestrian or vehicle, and most scenes are captured in urban environments from a birds-eye view. Recently, UAVs equipped with depth cameras have been also deployed for more complex applications, while RGBD aerial tracking is still unexplored. Compared with traditional RGB object tracking, adding depth information can more effectively deal with more challenging scenes such as target and background interference. To this end, in this paper, we explore RGBD aerial tracking in an overhead space, which can greatly enlarge the development of drone-based visual perception. To boost the research, we first propose a large-scale benchmark for RGBD aerial tracking, containing 1,000 drone-captured RGBD videos with dense annotations. Then, as drone-based applications require for real-time processing with limited computational resources, we also propose an efficient RGBD tracker named EMT. Our tracker runs at over 100 fps on GPU, and 25 fps on the edge platform of NVidia Jetson NX Xavier, benefiting from its efficient multimodal fusion and feature matching. Extensive experiments show that our EMT achieves promising tracking performance. All resources are available at https://github.com/yjybuaa/RGBDAerialTracking.
Original languageEnglish
Title of host publication2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
PublisherIEEE
Pages13374-13383
Number of pages8
Publication statusPublished - 22 Jun 2023
Event34th IEEE/CVF Conference on Computer Vision and Pattern Recognition - Vancouver, Canada
Duration: 18 Jun 202322 Jun 2023

Publication series

NameProceedings. IEEE Computer Society Conference on Computer Vision and Pattern Recognition
PublisherIEEE
ISSN (Print)1063-6919
ISSN (Electronic)2575-7075

Conference

Conference34th IEEE/CVF Conference on Computer Vision and Pattern Recognition
Country/TerritoryCanada
CityVancouver
Period18/06/2322/06/23

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