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In this paper, we propose a novel visual tracking method for unmanned aerial vehicles (UAVs) in aerial scenery. To track the UAVs robustly, we present a new object proposal method that can accurately determine the object regions that are likely to exist. The proposed object proposal method is robust to small objects and severe background clutter. For this, we vote on candidate areas of the object and increase or decrease the weight of the area accordingly. Thus, the method can accurately propose the object areas that can be used to track small-sized UAVs with the assumption that their motion is smooth over time. Experimental results verify that UAVs are accurately tracked even when they are very small and the background is complex. The proposed method qualitatively and quantitatively delivers state-of-the-art performance in comparison with conventional object proposal-based methods. [ABSTRACT FROM AUTHOR]

Highlights • Using deep reinforced template update strategy is beneficial for visual tracking. • Noteworthy performance gain over other naïve update strategies. • Runs at real-time speed of 43 fps while maintaining a competitive performance compared to other real-time algorithms. Abstract One of the major challenges of model-free visual tracking problem has been the difficulty originating from the unpredictable and drastic changes in the appearance of objects we target to track. Existing methods tackle this problem by updating the appearance model on-line in order to adapt to the changes in the appearance. Despite the success of these methods however, inaccurate and erroneous updates of the appearance model result in a tracker drift. In this paper, we introduce a novel real-time visual tracking algorithm based on a template selection strategy constructed by deep reinforcement learning methods. The tracking algorithm utilizes this strategy to choose the appropriate template for tracking a given frame. The template selection strategy is self-learned by utilizing a simple policy gradient method on numerous training episodes randomly generated from a tracking benchmark dataset. Our proposed reinforcement learning framework is generally applicable to other confidence map based tracking algorithms. The experiment shows that our tracking algorithm runs in real-time speed of 43 fps and the proposed policy network effectively decides the appropriate template for successful visual tracking. [ABSTRACT FROM AUTHOR]

In this paper, the accuracy of visual tracking is enhanced by leveraging a novel measure for observation quality. We measure observation quality with mutual information, then look at the interval covered by that mutual information. As observation uncertainty the interval length is proposed. The best observation is considered the one that both maximizes the observation quality and minimizes the observation uncertainty. We show that searching for the best observation in these terms amounts to preprocessing the image by subtracting the background, detecting salient regions, and rendering the image illumination-invariant. These preprocessing steps are very fast and can precede any existing tracker. In experiments it is shown that the performance of several trackers can be substantially boosted when they run on our preprocessed images, rather than the raw input for which they were intended. In all cases the version with preprocessing significantly outperforms the original tracker’s performance. [ABSTRACT FROM AUTHOR]

A novel tracking algorithm is proposed, which robustly tracks a target by finding the state that minimizes the likelihood uncertainty. Likelihood uncertainty is estimated by determining the gap between the lower and upper bounds of likelihood. By minimizing the gap between the two bounds, the proposed method identifies the confident and reliable state of the target. In this study, the state that provides the Minimum Uncertainty Gap (MUG) between likelihood bounds is shown to be more reliable than the state that provides the maximum likelihood only, especially when severe illumination changes, occlusions, and pose variations occur. A rigorous derivation of the lower and upper bounds of the likelihood for the visual tracking problem is provided to address this issue. Additionally, an efficient inference algorithm that uses Interacting Markov Chain Monte Carlo (IMCMC) approach is presented to find the best state that maximizes the average of the lower and upper bounds of likelihood while minimizing the gap between the two bounds. We extend our method to update the target model adaptively. To update the model, the current observation is combined with a previous target model with the adaptive weight, which is calculated according to the goodness of the current observation. The goodness of the observation is measured using the proposed uncertainty gap estimation of likelihood. Experimental results demonstrate that the proposed method robustly tracks the target in realistic videos and outperforms conventional tracking methods. [ABSTRACT FROM AUTHOR]

We propose the visual tracker sampler, a novel tracking algorithm that can work robustly in challenging scenarios, where several kinds of appearance and motion changes of an object can occur simultaneously. The proposed tracking algorithm accurately tracks a target by searching for appropriate trackers in each frame. Since the real-world tracking environment varies severely over time, the trackers should be adapted or newly constructed depending on the current situation, so that each specific tracker takes charge of a certain change in the object. To do this, our method obtains several samples of not only the states of the target but also the trackers themselves during the sampling process. The trackers are efficiently sampled using the Markov Chain Monte Carlo (MCMC) method from the predefined tracker space by proposing new appearance models, motion models, state representation types, and observation types, which are the important ingredients of visual trackers. All trackers are then integrated into one compound tracker through an Interacting MCMC (IMCMC) method, in which the trackers interactively communicate with one another while running in parallel. By exchanging information with others, each tracker further improves its performance, thus increasing overall tracking performance. Experimental results show that our method tracks the object accurately and reliably in realistic videos, where appearance and motion drastically change over time, and outperforms even state-of-the-art tracking methods. [ABSTRACT FROM AUTHOR]

A novel tracking algorithm is proposed for targets with drastically changing geometric appearances over time. To track such objects, we develop a local patch-based appearance model and provide an efficient online updating scheme that adaptively changes the topology between patches. In the online update process, the robustness of each patch is determined by analyzing the likelihood landscape of the patch. Based on this robustness measure, the proposed method selects the best feature for each patch and modifies the patch by moving, deleting, or newly adding it over time. Moreover, a rough object segmentation result is integrated into the proposed appearance model to further enhance it. The proposed framework easily obtains segmentation results because the local patches in the model serve as good seeds for the semi-supervised segmentation task. To solve the complexity problem attributable to the large number of patches, the Basin Hopping (BH) sampling method is introduced into the tracking framework. The BH sampling method significantly reduces computational complexity with the help of a deterministic local optimizer. Thus, the proposed appearance model could utilize a sufficient number of patches. The experimental results show that the present approach could track objects with drastically changing geometric appearance accurately and robustly. [ABSTRACT FROM AUTHOR]

We propose a novel tracking algorithm based on the Wang-Landau Monte Carlo (WLMC) sampling method for dealing with abrupt motions efficiently. Abrupt motions cause conventional tracking methods to fail because they violate the motion smoothness constraint. To address this problem, we introduce the Wang-Landau sampling method and integrate it into a Markov Chain Monte Carlo (MCMC)-based tracking framework. By employing the novel density-of-states term estimated by the Wang-Landau sampling method into the acceptance ratio of MCMC, our WLMC-based tracking method alleviates the motion smoothness constraint and robustly tracks the abrupt motions. Meanwhile, the marginal likelihood term of the acceptance ratio preserves the accuracy in tracking smooth motions. The method is then extended to obtain good performance in terms of scalability, even on a high-dimensional state space. Hence, it covers drastic changes in not only position but also scale of a target. To achieve this, we modify our method by combining it with the N-fold way algorithm and present the N-Fold Wang-Landau (NFWL)-based tracking method. The N-fold way algorithm helps estimate the density-of-states with a smaller number of samples. Experimental results demonstrate that our approach efficiently samples the states of the target, even in a whole state space, without loss of time, and tracks the target accurately and robustly when position and scale are changing severely. [ABSTRACT FROM AUTHOR]