Conditional Generative Denoiser for Nighttime UAV Tracking
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866929515077304320 |
|---|---|
| author | Wang, Yucheng Fu, Changhong Lu, Kunhan Yao, Liangliang Zuo, Haobo |
| author_facet | Wang, Yucheng Fu, Changhong Lu, Kunhan Yao, Liangliang Zuo, Haobo |
| contents | State-of-the-art (SOTA) visual object tracking methods have significantly enhanced the autonomy of unmanned aerial vehicles (UAVs). However, in low-light conditions, the presence of irregular real noise from the environments severely degrades the performance of these SOTA methods. Moreover, existing SOTA denoising techniques often fail to meet the real-time processing requirements when deployed as plug-and-play denoisers for UAV tracking. To address this challenge, this work proposes a novel conditional generative denoiser (CGDenoiser), which breaks free from the limitations of traditional deterministic paradigms and generates the noise conditioning on the input, subsequently removing it. To better align the input dimensions and accelerate inference, a novel nested residual Transformer conditionalizer is developed. Furthermore, an innovative multi-kernel conditional refiner is designed to pertinently refine the denoised output. Extensive experiments show that CGDenoiser promotes the tracking precision of the SOTA tracker by 18.18\% on DarkTrack2021 whereas working 5.8 times faster than the second well-performed denoiser. Real-world tests with complex challenges also prove the effectiveness and practicality of CGDenoiser. Code, video demo and supplementary proof for CGDenoier are now available at: \url{https://github.com/vision4robotics/CGDenoiser}. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_16834 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Conditional Generative Denoiser for Nighttime UAV Tracking Wang, Yucheng Fu, Changhong Lu, Kunhan Yao, Liangliang Zuo, Haobo Robotics State-of-the-art (SOTA) visual object tracking methods have significantly enhanced the autonomy of unmanned aerial vehicles (UAVs). However, in low-light conditions, the presence of irregular real noise from the environments severely degrades the performance of these SOTA methods. Moreover, existing SOTA denoising techniques often fail to meet the real-time processing requirements when deployed as plug-and-play denoisers for UAV tracking. To address this challenge, this work proposes a novel conditional generative denoiser (CGDenoiser), which breaks free from the limitations of traditional deterministic paradigms and generates the noise conditioning on the input, subsequently removing it. To better align the input dimensions and accelerate inference, a novel nested residual Transformer conditionalizer is developed. Furthermore, an innovative multi-kernel conditional refiner is designed to pertinently refine the denoised output. Extensive experiments show that CGDenoiser promotes the tracking precision of the SOTA tracker by 18.18\% on DarkTrack2021 whereas working 5.8 times faster than the second well-performed denoiser. Real-world tests with complex challenges also prove the effectiveness and practicality of CGDenoiser. Code, video demo and supplementary proof for CGDenoier are now available at: \url{https://github.com/vision4robotics/CGDenoiser}. |
| title | Conditional Generative Denoiser for Nighttime UAV Tracking |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.16834 |