在线目标分类及自适应模板更新的孪生网络跟踪算法

陈志旺; 张忠新; 宋娟; 雷海鹏; 彭勇

doi:10.11959/j.issn.1000-436x.2021127

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在线目标分类及自适应模板更新的孪生网络跟踪算法

学术论文 | 更新时间：2024-06-05

- 在线目标分类及自适应模板更新的孪生网络跟踪算法
- Tracking algorithm of Siamese network based on online target classification and adaptive template update
- 通信学报 2021年42卷第8期页码：151-163
- 作者机构：
  
  1. 燕山大学工业计算机控制工程河北省重点实验室，河北秦皇岛 066004
  2. 国网黑龙江省电力有限公司佳木斯供电公司，黑龙江佳木斯 154002
  3. 燕山大学电气工程学院，河北秦皇岛 066004
- 作者简介：
  
  [ "陈志旺（1978- ），男，河北武清人，博士，燕山大学副教授、硕士生导师，主要研究方向为多旋翼飞行控制、目标跟踪等" ]
  [ "张忠新（1996- ），男，山东聊城人，燕山大学硕士生，主要研究方向为目标跟踪" ]
  [ "宋娟（1978- ），女，黑龙江佳木斯人，国网黑龙江省电力有限公司高级工程师，主要研究方向为发电厂智能控制" ]
  [ "雷海鹏（1997- ），男，河北张家口人，燕山大学硕士生，主要研究方向为目标跟踪" ]
  [ "彭勇（1963- ），男，河北唐山人，博士，燕山大学教授、博士生导师，主要研究方向为特种机器人与人工智能" ]
- 基金信息：
  
  国家自然科学基金资助项目(61573305);河北省自然科学基金资助项目(F2019203511)
- DOI：10.11959/j.issn.1000-436x.2021127
  中图分类号： TP391.4
- 网络出版日期：2021-08，
  
  纸质出版日期：2021-08-25
- 稿件说明：
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陈志旺, 张忠新, 宋娟, 等. 在线目标分类及自适应模板更新的孪生网络跟踪算法[J]. 通信学报, 2021,42(8):151-163.

Zhiwang CHEN, Zhongxin ZHANG, Juan SONG, et al. Tracking algorithm of Siamese network based on online target classification and adaptive template update[J]. Journal on communications, 2021, 42(8): 151-163.
陈志旺, 张忠新, 宋娟, 等. 在线目标分类及自适应模板更新的孪生网络跟踪算法[J]. 通信学报, 2021,42(8):151-163. DOI： 10.11959/j.issn.1000-436x.2021127.

Zhiwang CHEN, Zhongxin ZHANG, Juan SONG, et al. Tracking algorithm of Siamese network based on online target classification and adaptive template update[J]. Journal on communications, 2021, 42(8): 151-163. DOI： 10.11959/j.issn.1000-436x.2021127.

摘要

针对孪生网络跟踪算法在离线训练阶段学习被跟踪目标和其他对象的嵌入式特征，而这些特征缺少特定于目标的上下文信息，使跟踪算法的稳健性较差的问题，以SiamRPN++作为基准算法，提出了在线目标分类及自适应模板更新的孪生网络跟踪算法。首先，在离线训练阶段设计了互相关特征图监督模块，以学习更具判别力的嵌入式特征；其次，在线跟踪阶段设计了包含注意力机制的在线目标分类模块，在该模块中使用在线滤波器更新策略滤除背景噪声干扰；最后，设计了一种自适应模板更新模块，使用UpdateNet更新目标模板信息。在VOT2018、VOT2019这2个标准数据集上的实验结果验证了所提算法的有效性，相比基准算法SiamRPN++分别带来13.5%和18.2%（EAO）的性能提升。

Abstract

Aiming at the problem that tracking algorithm of Siamese network learned the embedded features of the tracked target and the object in the offline training stage

and these embedded features often lacked the target-specific context information

which made these tracking algorithms less robust

a tracking algorithm of the Siamese network based on online target classification and adaptive template update was proposed

which used SiamRPN++ as the baseline algorithm.Firstly

a cross-correlation feature map supervision module for classification was designed in the offline training phase to learn more discriminative embedded features.Secondly

an online target classification module that included an attention mechanism in the online tracking phase was designed

and the online update filter strategy in the module was used to filter out the background noise.Finally

an adaptive template update module was designed to update the target template information using the UpdateNet.The results of experiments on VOT2018 and VOT2019 datasets verify the effectiveness of the proposed algorithm

which brings 13.5% and 18.2% (EAO) improvement respectively compared with the baseline algorithm SiamRPN++.

关键词

Keywords

references

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