Multi-feature fusion-based visual target tracking for unmanned surface vehicles

WU Wei, WANG Ning, WANG Yuanyuan, SUN Henan

doi:10.16411/j.cnki.issn1006-7736.2023.04.005

Journal of Dalian Maritime University >

2023 , Vol. 49 >Issue 4: 37 - 45

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2023.04.005

Multi-feature fusion-based visual target tracking for unmanned surface vehicles

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(1a. Marine Electrical Engineering College; 1b. Marine Engineering College, Dalian Maritime University, Dalian 116026, China；2. Ganjingzi Maritime Department, Dalian Maritime Safety Administration, Dalian 116000, China)

Received date: 2023-05-05

Revised date: 2023-07-20

Accepted date: 2023-07-20

Online published: 2023-12-15

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Abstract

A multi-feature fusion-based scale-adaptive correlation filter tracking algorithm was proposed to address the problem of visual target tracking drift in unmanned surface vehicles (USVs) caused by the coupling effects of sea surface illumination changes, water spray occlusion, water surface reflections, etc. By using multi-feature fusion, the algorithm enhanced the feature expression of the water surface target, thereby avoiding target tracking drift. To reduce the influence of environmental interference on the appearance description of the tracked target, a scale-adaptive tracking filter was designed to improve the robustness of target tracking. Several representative offshore video datasets were used to compare and analyze the proposed algorithm against typical target tracking algorithms. Results show that compared to a tracking algorithm based on a single CN feature, the proposed algorithm achieved 23.63% increase in average overlap score and 53.79 pixel reduction in average center location error. The proposed algorithm is suitable for handling the problem of tracking drift caused by drastic changes in sea surface environment and target scale, which can provide important intelligent perception technology support for the autonomy of unmanned surface vehicles operations.

Key words： unmanned surface vehicle（USV); visual target tracking; adaptive correlation filter; multi-feature fusion

Cite this article

WU Wei, WANG Ning, WANG Yuanyuan, SUN Henan . Multi-feature fusion-based visual target tracking for unmanned surface vehicles[J]. Journal of Dalian Maritime University, 2023 , 49(4) : 37 -45 . DOI: 10.16411/j.cnki.issn1006-7736.2023.04.005

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