空间控制技术与应用（中英文）2026，Vol.52Issue(3)：20-33,14.DOI:10.3969/j.issn.1674-1579.2026.03.003
基于国产嵌入式平台的实时目标跟踪算法
Real-Time Object Tracking Algorithm Based on Domestic Embedded Platform
摘要
Abstract
To address the challenge of deploying existing visual object tracking algorithms on embedded platforms with limited hardware resources,this paper proposes a real-time object tracking algorithm,SiamRT,tailored for the domestic embedded platform RK3588.The design incorporates a lightweight Siamese backbone based on VGG16 to reduce network complexity and enhance feature depth,capitalizing on NPU acceleration characteristics.A channel adjustment layer is employed to solidify the cross-correlation parameters while constructing a multi-task feature fusion network.This enables customized feature fusion ratios for classification and regression sub-tasks.Additionally,a lightweight corner prediction sub-network based on the Ghost mechanism is introduced to eliminate background redundancy and improve localization accuracy.A distributed deployment strategy is utilized,designing an integrated detection and tracking model combining YoloV5 and SiamRT.This approach substitutes manual selection of initial frame targets with a detector and optimizes the practical application process of the algorithm through multi-threading.The algorithm achieves an accuracy of 89.7%and a success rate of 69.6%in the OTB100 benchmark test and demonstrates robust performance on several large-scale public datasets.Deployed on the embedded platform,it achieves a running speed of 63 frames per second.These data and simulated results in real scenarios confirm the algorithm's significant military system application value.It holds strategic significance in enhancing the intelligence of national defense weaponry and equipment.关键词
目标跟踪/嵌入式芯片/轻量化孪生骨干/NPU加速Key words
object tracking/RK3588 embedded chip/lightweight siamese backbone/NPU acceleration分类
航空航天引用本文复制引用
才华,李林,王璐,付强,周鸿策,叶柏群..基于国产嵌入式平台的实时目标跟踪算法[J].空间控制技术与应用（中英文）,2026,52(3):20-33,14.基金项目
国家自然基金联合基金资助项目(U2341226),吉林省自然科学基金资助项目(20260102267JC),2024年度中关村开放实验室开放基金基金项目:光电测量与智能感知中关村开放实验室 2024 年度开放基金(LabSOMP-2024-14) National Natural Science Foundation of China(U2341226),Jilin Provincial Natural Science Foundation(20260102267JC),The Open Fund of Zhongguancun Open Laboratory for Optoelectronic Measurement and Intelligent Sensing in 2024(LabSOMP-2024-14) （U2341226）
