JitTrack：面向敏捷无人机的、应对视点抖动的机载多目标跟踪
JitTrack: Onboard Multi-Object Tracking Against Viewpoint Jitter for Agile UAVs
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中文总结 AI 辅助
针对敏捷无人机机载多目标跟踪的视点抖动难题，提出JitTrack框架，结合语义细化、运动感知查询校正等技术，通过闭环流水线实现鲁棒跟踪，实验验证其有效性。
中文摘要 AI 辅助
敏捷无人机（UAV）上的多目标跟踪（MOT）任务极具挑战性，原因在于相机自身运动引发了严重的视点抖动。飞行过程中姿态的快速变化常会导致目标在帧间出现显著位移，进而造成目标关联不准确，使跟踪性能下降。现有的无人机多目标跟踪方法主要在离线基准上进行评估，很少满足实际机载部署的需求，包括对相机运动的鲁棒性以及主动目标跟踪。为应对这些挑战，我们提出了JitTrack，这是一种适配无人机动力学与相机自身运动的主动机载多目标跟踪框架。该框架基于基于查询的Transformer跟踪器构建，引入了语义细化以提升新目标的检测效果、运动感知的查询校正以补偿视点抖动导致的目标错位，还采用了受运动启发的去噪训练策略，模拟相机运动模式以实现鲁棒监督。此外，我们开发了感知-规划-控制闭环跟踪流水线用于实际部署，使敏捷无人机能够实现无碰撞且符合物理可行性的目标跟踪。在公开的无人机多目标跟踪基准上开展的大量实验表明，JitTrack相较于基线方法取得了持续的性能提升，而实际飞行实验也验证了JitTrack在视点抖动下实现鲁棒机载视觉跟踪的有效性与实用性。
英文摘要
Multi-object tracking (MOT) onboard agile unmanned aerial vehicles (UAVs) remains challenging due to severe viewpoint jitter induced by camera ego-motion. Rapid attitude changes during flight often lead to significant target displacement across frames, causing inaccurate target association and degraded tracking performance. Existing UAV MOT methods are primarily evaluated on offline benchmarks and seldom address the practical requirements of real-world onboard deployment, including robustness to camera motion and active target following. To address these challenges, we propose JitTrack, an active onboard multi-object tracking framework that accommodates drone dynamics and camera ego-motion. Built upon a query-based transformer tracker, JitTrack introduces semantic refinement to improve the detection of emerging targets, motion-aware query rectification to compensate for target misalignment caused by viewpoint jitter, and a motion-inspired denoising training strategy that simulates camera motion patterns for robust supervision. Furthermore, we develop a perception-planning-control closed-loop tracking pipeline for real-world deployment, enabling collision-free and physically feasible target following on agile UAVs. Extensive experiments on public UAV MOT benchmarks demonstrate consistent improvements over the baseline method, while real-world flight experiments validate the effectiveness and practicality of JitTrack for robust onboard visual tracking under viewpoint jitter.
