Enhancing Online UAV Multi-Object Tracking with Temporal Context and Spatial Topological Relationships

Abstract

Multi-object tracking in unmanned aerial vehicle (UAV) videos is a critical visual perception task with numerous applications. However, existing multi-object tracking methods, when directly applied to UAV scenarios, face significant challenges in maintaining robust tracking due to factors such as motion blur and small object sizes. Additionally, existing UAV methods tend to underutilize crucial information from the temporal and spatial dimensions. To address these issues, on the one hand, we propose a temporal feature aggregation module (TFAM), which effectively combines temporal contexts to obtain rich feature response maps in dynamic motion scenes to enhance the detection capability of the proposed tracker. On the other hand, we introduce a topology-integrated embedding module (TIEM) that captures the topological relationships between objects and their surrounding environment globally and sparsely, thereby integrating spatial layout information. The proposed TIEM significantly enhances the discriminative power of object embedding features, resulting in more precise data association. By integrating these two carefully designed modules into a one-stage online MOT system, we construct a robust UAV tracker. Compared to the baseline approach, the proposed model demonstrates significant improvements in MOTA on two UAV multi-object tracking benchmarks, namely VisDrone2019 and UAVDT. Specifically, the proposed model achieves a 2.2% improvement in MOTA on the VisDrone2019 benchmark and a 2.5% improvement on the UAVDT benchmark.