{"id":"https://openalex.org/W4312441404","doi":"https://doi.org/10.1109/iros47612.2022.9982189","title":"Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention","display_name":"Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312441404","doi":"https://doi.org/10.1109/iros47612.2022.9982189"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982189","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074507084","display_name":"Guangze Zheng","orcid":"https://orcid.org/0000-0002-1134-6678"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangze Zheng","raw_affiliation_strings":["School of Mechanical Engineering, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105268108","display_name":"Changhong Fu","orcid":"https://orcid.org/0000-0002-9897-6022"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhong Fu","raw_affiliation_strings":["School of Mechanical Engineering, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100777712","display_name":"Junjie Ye","orcid":"https://orcid.org/0000-0002-4316-166X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Ye","raw_affiliation_strings":["School of Mechanical Engineering, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387313","display_name":"Bowen Li","orcid":"https://orcid.org/0009-0006-7098-4043"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Li","raw_affiliation_strings":["School of Mechanical Engineering, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073847981","display_name":"Geng Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Geng Lu","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["University of Hong Kong,Department of Computer Science,Hong Kong,China","Department of Computer Science, University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hong Kong,Department of Computer Science,Hong Kong,China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Computer Science, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8848,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.82537091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10486","last_page":"10492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12597","display_name":"Fire Detection and Safety Systems","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.7857128381729126},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7644914388656616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7451397180557251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6509872674942017},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.6159364581108093},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6081716418266296},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6006525754928589},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5475096702575684},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.535959780216217},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5237412452697754},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.5175925493240356},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5125031471252441},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5067747235298157},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.48243340849876404},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4794784486293793},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.42372116446495056},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.2290899157524109},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07789343595504761},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07541242241859436}],"concepts":[{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.7857128381729126},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7644914388656616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7451397180557251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6509872674942017},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.6159364581108093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6081716418266296},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6006525754928589},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5475096702575684},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.535959780216217},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5237412452697754},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.5175925493240356},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5125031471252441},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5067747235298157},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.48243340849876404},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4794784486293793},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.42372116446495056},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2290899157524109},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07789343595504761},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07541242241859436},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982189","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.46000000834465027,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G468934012","display_name":null,"funder_award_id":"62173249","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8500223103","display_name":null,"funder_award_id":"20ZR1460100","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1561858273","https://openalex.org/W1861492603","https://openalex.org/W1999941908","https://openalex.org/W2089961441","https://openalex.org/W2117539524","https://openalex.org/W2470394683","https://openalex.org/W2518876086","https://openalex.org/W2585493154","https://openalex.org/W2592463526","https://openalex.org/W2776035257","https://openalex.org/W2794744029","https://openalex.org/W2797812763","https://openalex.org/W2799058067","https://openalex.org/W2886910176","https://openalex.org/W2898200825","https://openalex.org/W2910976650","https://openalex.org/W2911177228","https://openalex.org/W2963227409","https://openalex.org/W2963534981","https://openalex.org/W2964423614","https://openalex.org/W2987346479","https://openalex.org/W2987460522","https://openalex.org/W2998434318","https://openalex.org/W3035211844","https://openalex.org/W3035466700","https://openalex.org/W3035571898","https://openalex.org/W3108519869","https://openalex.org/W3120974171","https://openalex.org/W3167454939","https://openalex.org/W3172553658","https://openalex.org/W3173344965","https://openalex.org/W3206176693","https://openalex.org/W3207718618","https://openalex.org/W4312287126","https://openalex.org/W4312735552","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W2487162673","https://openalex.org/W2793211469","https://openalex.org/W2949152769","https://openalex.org/W4372354731","https://openalex.org/W2807634898","https://openalex.org/W1692008701","https://openalex.org/W2942366970","https://openalex.org/W2597588799","https://openalex.org/W2965594636","https://openalex.org/W2912550626"],"abstract_inverted_index":{"Although":[0],"the":[1,4,20,30,71,77,155,161,172],"manipulating":[2],"of":[3,99,165],"unmanned":[5],"aerial":[6],"manipulator":[7],"(UAM)":[8],"has":[9],"been":[10],"widely":[11],"studied,":[12],"vision-based":[13,93],"UAM":[14,32,40,49,94,136,148],"approaching,":[15,137],"which":[16,59],"is":[17,140],"crucial":[18],"to":[19,29,63,127],"subsequent":[21],"manipulating,":[22],"generally":[23],"lacks":[24],"effective":[25],"design.":[26],"The":[27],"key":[28],"visual":[31],"approaching":[33,50],"lies":[34],"in":[35],"object":[36,55,72],"tracking,":[37],"while":[38,121],"current":[39],"tracking":[41,73,133],"typically":[42],"relies":[43],"on":[44,145,154],"costly":[45],"model-based":[46],"methods.":[47],"Besides,":[48],"often":[51],"confronts":[52],"more":[53],"severe":[54],"scale":[56,116,125],"variation":[57],"issues,":[58],"makes":[60],"it":[61],"inappro-priate":[62],"directly":[64],"employ":[65],"state-of-the-art":[66],"model-free":[67],"Siamese-based":[68],"methods":[69],"from":[70],"field.":[74],"To":[75],"address":[76],"above":[78],"problems,":[79],"this":[80],"work":[81],"proposes":[82],"a":[83,100,107,131,146,168],"novel":[84],"Siamese":[85],"network":[86,104,111],"with":[87,142,167],"pairwise":[88,101],"scale-channel":[89,102],"attention":[90,103],"(SiamSA)":[91],"for":[92,118,135,150],"approaching.":[95],"Specifically,":[96],"SiamSA":[97,166],"consists":[98],"(PSAN)":[105],"and":[106,157,163,174],"scale-aware":[108],"anchor":[109,128],"proposal":[110],"(SA-APN).":[112],"PSAN":[113],"acquires":[114],"valuable":[115],"information":[117],"feature":[119],"processing,":[120],"SA-APN":[122],"mainly":[123],"attaches":[124],"awareness":[126],"proposing.":[129],"Moreover,":[130],"new":[132],"benchmark":[134,176],"namely":[138],"UAMT100,":[139],"recorded":[141],"35K":[143],"frames":[144],"flying":[147],"platform":[149],"evaluation.":[151],"Exhaustive":[152],"experiments":[153],"benchmarks":[156],"real-world":[158],"tests":[159],"validate":[160],"efficiency":[162],"practicality":[164],"promising":[169],"speed.":[170],"Both":[171],"code":[173],"UAMT100":[175],"are":[177],"now":[178],"available":[179],"at":[180],"https://github.com/vision4robotics/SiamSA.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
