UAV tracking based on saliency detection

This paper presents a novel unmanned aerial vehicle tracking framework. First, hierarchical convolutional neural network features are used to track the object independently in a correlation filter tracking framework. Second, a stability criterion is proposed, which is based on the variance of tracking results of each layer. Next, tracking result is adaptively fused via the variance. Meanwhile, the criterion can be used to measure the quality of tracking results. A saliency detection method is utilized to generate candidate regions when tracking failure occurs. By virtue of this method, our tracking algorithm can robustly cope with appearance changes and prevent drifting issues. Experimental results show that our proposed tracking algorithm performs favorably against state-of-the-art methods on two benchmark datasets.