Small Moving Object Detection Based on Sequence Confidence Method in UAV Video

  • Dashuai Yan
  • Wei SunEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 891)


In the small object detection on the UAV (Unmanned Aerial Vehicle) platform, the confidence description of the moving object is proposed to improve the accuracy, robustness and reliable tracking method of the object detection. Due to the low resolution and slow motion of small moving object in aerial video, and the image is easily subject to illumination and camera jitter noise, and the correlation between video sequences is neglected, it is prone to false detection of moving object and low detection accuracy, the characteristics of poor robustness. For the UAV video with small moving object, the algorithm uses the ORB operator to extract reliable global feature points for each frame of the video, and then performs global motion compensation on the motion background through the affine transformation model and calculates the difference image. The energy accurately detects the small object, and then describes the confidence of the moving object. The n-step back-off method is used to increase the correlation information between the video sequences. The proposed method is to evaluate the video captured on the airborne aircraft, and has done a lot of experiments and tests. For the object as small as 25 pixels, the method still has better performance, and our method can be realized by parallel computing. Real-time, processing 1280 × 720 frames at around 45 fps.


UAV Aerial video Sequence confidence Small object detection 



This work was supported by National Nature Science Foundation of China (NSFC) under Grants 61671356, 61201290.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Aerospace Science and TechnologyXidian UniversityXi’anChina

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