计算机工程与应用2024，Vol.60Issue(9)：122-134,13.DOI:10.3778/j.issn.1002-8331.2307-0359
FA-SORT:轻量化的多车辆跟踪算法
FA-SORT:Lightweight Multi-Vehicle Tracking Algorithm
摘要
Abstract
In recent years,UAVs have been widely used in the field of vehicle tracking due to their small size and flexibility.However,when UAVs fly at high altitude,there are few pixel points,crowding,and occlusion of vehicle objects in their captured images.Moreover,existing multi-object tracking research methods use Kalman filter prediction when nonlinear motion occurs during vehicle occlusion,and the problem of inaccurate vehicle position prediction occurs.In order to solve these problems,this paper adopts tracking by detection(TBD)paradigm,which firstly improves the YOLOv8 detection algorithm by introducing BiFormer sparse dynamic attention module in the network structure for extracting small object feature information.Meanwhile,the lightweight upsampling operator CARAFE is used to replace the original nearest-neighbor interpolation upsampling,which reduces the problem of small-object feature loss in the upsampling process.Then a lightweight tracking model FA-SORT is proposed,and three improvements are proposed for the SORT algorithm:improving KF,adding speed-direction consistency matching and detection value matching.Finally,the improved YOLOv8 algorithm is validated on a homemade combination of several vehicle datasets.The experimental results show that the pre-cision is improved by 0.97%and the recall is improved by 0.898%compared with YOLOv8.The proposed FA-SORT algorithm is validated using the UAVDT dataset,and the results show that the first HOTA metric reaches 70.05%,IDF1 reaches 87.45%,and the tracking speed reaches 29.93 FPS compared to existing multi-objective tracking algorithms.The superiority of the FA-SORT tracking algorithm for multi-vehicle tracking tasks is verified.关键词
多车辆跟踪/目标检测/速度方向一致性匹配/检测值匹配/无人机图像Key words
multi-vehicle tracking/object detection/velocity-direction consistency matching/detection value matching/UAV images分类
信息技术与安全科学引用本文复制引用
欧阳博,朱勇建,杨礼康,王本源..FA-SORT:轻量化的多车辆跟踪算法[J].计算机工程与应用,2024,60(9):122-134,13.基金项目
教育部产学合作协同育人项目(220800006080308) （220800006080308）
上海应用技术大学科研启动项目(YJ2022-40) （YJ2022-40）
上海应用技术大学协同创新基金(XTCX2022-20). （XTCX2022-20）
