Semantically Enhanced UAVs to Increase the Aerial Scene Understanding
提出一种混合方案，通过添加场景的语义描述（如地点、自然特征等）来辅助无人机视觉跟踪，提升目标识别和场景理解能力，实验验证了其在监控、搜救等任务中的有效性。
Visual tracking supported by unmanned aerial vehicles (UAVs) has generated a lot of interest in recent years, especially in application domains such as surveillance, search for missing persons and traffic monitoring. The major challenges in visual tracking with small UAVs arise in the form of target representation, target appearance change, target detection and localization in real time computation. Reliable target detection depends on factors such as occlusions, image noise, illumination and pose changes, or image blur that may compromise the object labeling. To mitigate these issues, this paper proposes a hybrid solution: along with the tracked objects, scenes are completely depicted by adding contextual information, i.e., data describing places, natural features, or in general points of interest. Each scenario indeed is semantically described by ontological statements that define the context and then, by inference, support the object tracking task in the object identification and labeling. The synergy between the tracking methods and semantic modeling can bridge the object labeling gap, enhancing the scene understanding and awareness when alarming situations are discovered. Experimental results are promising and confirm the applicability of the proposed framework in supporting drones in object identification and critical situation detection tasks.