Learning Spatio-Temporal Attention Based Siamese Network for Tracking UAVs in the Wild

Abstract

The popularity of unmanned aerial vehicles (UAVs) has made anti-UAV technology in-creasingly urgent. Object tracking, especially in thermal infrared videos, offers a promising solution to counter UAV intrusion. However, troublesome issues such as fast motion and tiny size make tracking infrared drone targets difficult and challenging. This work proposes a simple and effective spatio-temporal attention based Siamese method called SiamSTA, which performs reliable local searching and wide-range re-detection alternatively for robustly tracking drones in the wild. Con-cretely, SiamSTA builds a two-stage re-detection network to predict the target state using the template of first frame and the prediction results of previous frames. To tackle the challenge of small-scale UAV targets for long-range acquisition, SiamSTA imposes spatial and temporal constraints on generating candidate proposals within local neighborhoods to eliminate interference from background distrac-tors. Complementarily, in case of target lost from local regions due to fast movement, a third stage re-detection module is introduced, which exploits valuable motion cues through a correlation filter based on change detection to re-capture targets from a global view. Finally, a state-aware switching mechanism is adopted to adaptively integrate local searching and global re-detection and take their complementary strengths for robust tracking. Extensive experiments on three anti-UAV datasets nicely demonstrate SiamSTA’s advantage over other competitors. Notably, SiamSTA is the foundation of the 1st-place winning entry in the 2nd Anti-UAV Challenge.