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A Robust Target Detection and Tracking Approach for UAV Guidance

Robust target detection and tracking are vitally important for accomplishing the guidance task of the UAV in the terminal phase. This importance comes from two aspects; firstly, the more the desired target is accurately localized (detected and tracked) the less the miss distance achieved. Secondly, the high dynamics impose speeding up the execution time for localizing the desired target to be in real-time. SIFT and SURF are of the most applicable features in reference-scene matching for target detection but still suffer from their large computation burden. In this work, a simple but efficient detector employs a fused ORB-BRISK to localize the desired target accurately in the first scene. After that, a decent Kernelized Correlation Filter KCF tracker is utilized to lock on the detected target until the localization accuracy drops below a certain threshold. At that time the proposed detector will aid the tracker again to lock on the missed target. Experimental results reveal that the proposed tracking system achieves a high detection accuracy and overcomes the terminal guidance challenges.