High-Performance Detection-Based Tracker for Multiple Object Tracking in UAVs

Abstract

As a result of increasing urbanization, traffic monitoring in cities has become a challenging task. The use of Unmanned Aerial Vehicles (UAVs) provides an attractive solution to this problem. Multi-Object Tracking (MOT) for UAVs is a key technology to fulfill this task. Traditional detection-based-tracking (DBT) methods begin by employing an object detector to retrieve targets in each image and then track them based on a matching algorithm. Recently, the popular multi-task learning methods have been dominating this area, since they can detect targets and extract Re-Identification (Re-ID) features in a computationally efficient way. However, the detection task and the tracking task have conflicting requirements on image features, leading to the poor performance of the joint learning model compared to separate detection and tracking methods. The problem is more severe when it comes to UAV images due to the presence of irregular motion of a large number of small targets. In this paper, we propose using a balanced Joint Detection and Re-ID learning (JDR) network to address the MOT problem in UAV vision. To better handle the non-uniform motion of objects in UAV videos, the Set-Membership Filter is applied, which describes object state as a bounded set. An appearance-matching cascade is then proposed based on the target state set. Furthermore, a Motion-Mutation module is designed to address the challenges posed by the abrupt motion of UAV. Extensive experiments on the VisDrone2019-MOT dataset certify that our proposed model, referred to as SMFMOT, outperforms the state-of-the-art models by a wide margin and achieves superior performance in the MOT tasks in UAV videos.