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Title: | 自適應動態模板目標追蹤及其在無人機系統中的應用 Object Tracking with an Adaptive Dynamic Template and Its Application to an Unmanned Aerial Vehicle System |
Authors: | 曾筱晴 Hsiao-Ching Tseng |
Advisor: | 洪一平 Yi-Ping Hung |
Keyword: | 物體追蹤,動態模板,線上更新策略,追蹤系統, Object Tracking,Dynamic Template,Online Update Strategy,Tracking System, |
Publication Year : | 2023 |
Degree: | 碩士 |
Abstract: | 空間和時間要素對於物體追蹤至關重要,特别是對於目標外觀隨時間不斷變化的長期物體追蹤。除了定義目標的初始模板外,動態模板能處理外觀變化,並在精心挑選的情況下提高追蹤的準確度。在本論文中,我們提出了一種名為 OSTrack-ADT 的單流追蹤器,該追蹤器具有自適應動態模板更新機制。我們提出的更新策略會在每一幀中觸發,並利用過去的追蹤分數資訊來動態調整閾值。與以往方法不同,我們設計了一個新穎的分數解碼器,用於預測每個邊界框提案的交集與聯集比值(IoU),而非使用類別分數作為信心指數,以抑制部分遮擋或錯誤邊界框的影響。當可信的模板其時空懲罰的 IoU 分數大於動態閾值,則取代當前的動態模板。實驗結果顯示,我們所提出的追蹤器能達到每秒 65 幀的實時運行速度,在長期追蹤基準上取得了巨大的改進,同時在中期和短期追蹤基準上保持了具有競爭力的性能。此外,提出的 OSTrack-ADT 也應用於實時的無人機追蹤系統。 Spatial and temporal factors are critical for object tracking, especially for long-term object tracking that contains the target's appearance change over time. Besides the initial template which defines the target, the dynamic template handles appearance variation and improves the tracking accuracy if it is cherry-picked. In this thesis, we propose OSTrack-ADT, a One-Stream Tracker with an Adaptive Dynamic Template updating mechanism. Our update decision is triggered every frame based on a dynamic threshold that considers the historical information of tracking confidence. Different from previous approaches, we devise a novel score head to predict the Intersection over Union (IoU) score of each bounding box proposal instead of utilizing the classification score as the confidence score to suppress the impact of the partial occlusion or erroneous bounding boxes. The current dynamic template will be replaced if there is a plausible one whose spatiotemporally penalized IoU score is greater than the dynamic threshold. The experimental results show that the proposed tracker operates in real-time (65fps) and makes a great improvement on the long-term tracking benchmark while maintaining comparable performance on mid-term and short-term tracking benchmarks. Furthermore, our OSTrack-ADT is also applied to a real-time unmanned aerial vehicle tracking system. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/88656 |
DOI: | 10.6342/NTU202302292 |
Fulltext Rights: | 未授權 |
Appears in Collections: | 資訊工程學系 |
Files in This Item:
File | Size | Format | |
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ntu-111-2.pdf Restricted Access | 57.5 MB | Adobe PDF |
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