Multiple Aerial Targets Re-Identification by 2D-and 3D-Kinematics-Based Matching

Abstract

This paper presents two techniques in the matching and re-identification of multiple aerial target detections from multiple electro-optical devices: 2-dimensional and 3-dimensional kinematicsbased matching. The main advantage of these methods over traditional image-based methods is that no prior image-based training is required; instead, relatively simpler graph matching algorithms are used. The first 2-dimensional method relies solely on the kinematic and geometric projections of the detected targets onto the images captured by the various cameras. Matching and re-identification across frames were performed using a series of correlation-based methods. This method is suitable for all targets with distinct motion observed by the camera. The second 3-dimensional method relies on the change in the size of detected targets to estimate motion in the focal axis by constructing an instantaneous direction vector in 3D space that is independent of camera pose. Matching and re-identification were achieved by directly comparing these vectors across frames under a global coordinate system. Such a method is suitable for targets in near to medium range where changes in detection sizes may be observed. While no overlapping field of view requirements were explicitly imposed, it is necessary for the aerial target to be detected in both cameras before matching can be carried out. Preliminary flight tests were conducted using 2–3 drones at varying ranges, and the effectiveness of these techniques was tested and compared. Using these proposed techniques, an MOTA score of more than 80% was achieved.