Multibeam Forward-Looking Sonar Video Object Tracking Using Truncated - Sparsity and Aberrances Repression Regularization
Xueqiong Sui, Han Pan, Zhongliang Jing, Henry Leung
Abstract
Multibeam forward-looking sonar (MFLS) video object tracking is a challenging problem due to the negative impacts of weak features and background clutter. In this letter, a novel multibeam forward-looking sonar video object tracking method via hybrid regularization scheme is proposed. The proposed regularization scheme is a composite method with truncated <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\ell _{1}$</tex-math></inline-formula> - <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\ell _{2}$</tex-math></inline-formula> sparsity regularization and aberrances repression regularization. While the truncated <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\ell _{1}$</tex-math></inline-formula> - <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\ell _{2}$</tex-math></inline-formula> sparsity regularization explores the structural sparsity of the learned filter to address background clutter, the aberrances repression regularization can alleviate the undesired spatial bounding effect. The resulting optimization problem is solved by alternating direction method of multipliers (ADMM). A proximal operator with truncated soft-thresholding scheme is proposed for the sub-problem with truncated <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\ell _{1}$</tex-math></inline-formula> - <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\ell _{2}$</tex-math></inline-formula> sparsity regularization. Experiments based on five multibeam forward-looking sonar videos for underwater docking validate the effectiveness of the proposed method, compared to other 8 state-of-the-art tracking methods.
BibTeX
@inproceedings{ral2024_multibeamforward,
title = {Multibeam Forward-Looking Sonar Video Object Tracking Using Truncated - Sparsity and Aberrances Repression Regularization},
author = {Xueqiong Sui and Han Pan and Zhongliang Jing and Henry Leung},
booktitle = {RA-L 2024},
year = {2024}
}