Boosting UAV Tracking With Voxel-Based Trajectory-Aware Pre-Training

Abstract

Siamese network-based object tracking has remarkably promoted the automatic capability for highly-maneuvered unmanned aerial vehicles (UAVs). However, the leading-edge tracking framework often depends on template matching, making it trapped when facing multiple views of object in consecutive frames. Moreover, the general image-level pretrained backbone can overfit to holistic representations, causing the misalignment to learn object-level properties in UAV tracking. To tackle these issues, this work presents <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">TRTrack</i> , a comprehensive framework to fully exploit the stereoscopic representation for UAV tracking. Specifically, a novel pre-training paradigm method is proposed. Through trajectory-aware reconstruction training (TRT), the capability of the backbone to extract stereoscopic structure feature is strengthened without any parameter increment. Accordingly, an innovative hierarchical self-attention Transformer is proposed to capture the local detail information and global structure knowledge. For optimizing the correlation map, we proposed a novel spatial correlation refinement (SCR) module, which promotes the capability of modeling the long-range spatial dependencies. Comprehensive experiments on three UAV challenging benchmarks demonstrate that the proposed TRTrack achieves superior UAV tracking performance in both precision and efficiency. Quantitative tests in real-world settings fully prove the effectiveness of our work.