Mamba meets tracker: exploiting token aggregation and diffusion for robust unmanned aerial vehicles tracking

IF 5 2区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
Guocai Du, Peiyong Zhou, Nurbiya Yadikar, Alimjan Aysa, Kurban Ubul
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引用次数: 0

Abstract

The Transformer-based tracking approach achieves excellent results in unmanned aerial vehicles (UAV) tracking tasks. However, the existing tracking framework usually deals with this problem by visual grounding and visual tracking separately. This independent framework does not consider the correlation between the two steps mentioned above, that is, natural language description can provide global semantic information. Meanwhile, a separate framework is unable to conduct end-to-end training. As a remedy, We propose a joint natural language Mamba based tracking framework (named TADMT). Specifically, we propose a token aggregator that condenses rich features into a small number of visual tokens through a coarse to fine strategy to improve subsequent tracking speed. Then, we designed a mamba module based on the serpentine scanning strategy to effectively establish the relationship between natural language and visual images. In addition, we have designed a novel shift add multilayer perceptron in the prediction head, with the aim of achieving final classification and localization with less computation. Numerous experimental results have shown that TADMT achieves good tracking performance on six UAV tracking datasets and three general tracking datasets, with an average speed of 120FPS. The experimental results on the embedded platform also demonstrate the applicability of TADMT on UAV platforms.

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来源期刊
Complex & Intelligent Systems
Complex & Intelligent Systems COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-
CiteScore
9.60
自引率
10.30%
发文量
297
期刊介绍: Complex & Intelligent Systems aims to provide a forum for presenting and discussing novel approaches, tools and techniques meant for attaining a cross-fertilization between the broad fields of complex systems, computational simulation, and intelligent analytics and visualization. The transdisciplinary research that the journal focuses on will expand the boundaries of our understanding by investigating the principles and processes that underlie many of the most profound problems facing society today.
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