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DarkLighter: Light Up the Darkness for UAV Tracking

* Corresponding author

Presenter

Junjie Ye, Changhong Fu*, Guangze Zheng, Ziang Cao, and Bowen Li

{ye.jun.jie, changhongfu}@tongji.edu.cn

Tongji University

J. Ye, C. Fu, G. Zheng, Z. Cao, and B. Li, "DarkLighter: Light Up the Darkness for UAV Tracking," in IROS 2021

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Vision4Robotics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

September 27-October 1, 2021 Prague, Czech Republic, Online

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Methodology: DarkLighter

  • Iterative Retinex model

J. Ye, C. Fu, G. Zheng, Z. Cao, and B. Li, "DarkLighter: Light Up the Darkness for UAV Tracking," in IROS 2021

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Map estimation network (ME-Net)

Estimated illumination maps

Estimated noise maps

Original image

Enhanced image

 

Vision4Robotics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

September 27-October 1, 2021 Prague, Czech Republic, Online

3 of 6

Methodology: DarkLighter

  • Center-focused lightness loss

J. Ye, C. Fu, G. Zheng, Z. Cao, and B. Li, "DarkLighter: Light Up the Darkness for UAV Tracking," in IROS 2021

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  • Illumination regularization loss
  • Noise estimation loss
  • Color intensity loss
  • Semantic fidelity loss

Vision4Robotics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

September 27-October 1, 2021 Prague, Czech Republic, Online

4 of 6

Experiments: Efficacy of DarkLighter for UAV Dark Tracking�

  • DarkLighter on Different Trackers
    • Implemented on 4 trackers, including DiMP50, PrDiMP50, SiamAPN, and SiamRPN++
    • Evaluated on the UAVDark135 benchmark

J. Ye, C. Fu, G. Zheng, Z. Cao, and B. Li, "DarkLighter: Light Up the Darkness for UAV Tracking," in IROS 2021

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Precision and success plots of SOTA trackers with DarkLighter (denoted as DL in the legend) enabled or not.

Vision4Robotics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

September 27-October 1, 2021 Prague, Czech Republic, Online

5 of 6

Experiments: Efficacy of DarkLighter for UAV Dark Tracking�

  • Comparison of DarkLighter and SOTA Enhancers
    • Compare the performance with other SOTA enhancers in boosting nighttime tracking, including EnlightenGAN, Zero-DCE, and LIME.

J. Ye, C. Fu, G. Zheng, Z. Cao, and B. Li, "DarkLighter: Light Up the Darkness for UAV Tracking," in IROS 2021

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Vision4Robotics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

September 27-October 1, 2021 Prague, Czech Republic, Online

6 of 6

DarkLighter: Light Up the Darkness for UAV Tracking

Junjie Ye, Changhong Fu*, Guangze Zheng, Ziang Cao, and Bowen Li

Thank you for your attention!

J. Ye, C. Fu, G. Zheng, Z. Cao, and B. Li, "DarkLighter: Light Up the Darkness for UAV Tracking," in IROS 2021

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Lab web

Personal web

Vision4Robotics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

September 27-October 1, 2021 Prague, Czech Republic, Online