SAM-DA: UAV Tracks Anything at Night with SAM-Powered Domain Adaptation

Changhong Fu*, Liangliang Yao, Haobo Zuo, Guangze Zheng, Jia Pan

• * Corresponding author.

Vision4robotics

📢 News

• SAM-DA is accepted by IEEE ICARM.
• The paper “SAM-DA: UAV Tracks Anything at Night with SAM-Powered Domain Adaptation” is awarded the Toshio Fukuda Best Paper Award in Mechatronics of ICARM 2024!

🏗️ Framework

👀 Visualization of SAM-DA

🛠️ Installation

This code has been tested on Ubuntu 18.04, Python 3.8.3, Pytorch 1.13.1, and CUDA 11.6. Please install related libraries before running this code:

Install Segment Anything:

bash install.sh

Install SAM-DA-Track:

pip install -r requirements.txt

😀 Getting started

Test SAM-DA

• Download a model checkpoint below and put it in ./tracker/BAN/snapshot.

  Training data	Model	Source 1	Source 2	Source 3
  SAM-NAT-B (base, default)	sam-da-track-b	Baidu	Google	Hugging face
  SAM-NAT-S (small)	sam-da-track-s	Baidu	Google	Hugging face
  SAM-NAT-T (tiny)	sam-da-track-t	Baidu	Google	Hugging face
  SAM-NAT-N (nano)	sam-da-track-n	Baidu	Google	Hugging face

• Download NUT-L dataset and put it in ./tracker/BAN/test_dataset.

• Test and evalute on NUT-L with default settings.

cd tracker/BAN
python tools/test.py 
python tools/eval.py

• (optional) Test with other checkpoints (e.g., sam-da-track-s):

cd tracker/BAN
python tools/test.py --snapshot sam-da-track-s
python tools/eval.py

Train SAM-DA

• SAM-powered target domain training sample swelling on NAT2021-train.

  1. Download original nighttime dataset NAT2021-train and put it in ./tracker/BAN/train_dataset/sam_nat.
  2. Sam-powered target domain training sample swelling!

  bash swell.sh
  

  ⚠️ warning: A huge passport is necessary for saving data.

  Training jsons are here: Baidu.

• Prepare daytime dataset [VID] and [GOT-10K].

  1. Download VID and GOT-10K and put them in ./tracker/BAN/train_dataset/vid and ./tracker/BAN/train_dataset/got10k, respectively.
  2. Crop data following the instruction for VID and GOT-10k.

• Train sam-da-track-b (default) and other models.

  cd tracker/BAN
  python tools/train.py --model sam-da-track-b

🌈 Fewer data, better performance

SAM-DA aims to reach the few-better training for quick deployment of night-time tracking methods for UAVs.

• SAM-DA enriches the training samples and attributes (ambient intensity) of target domain.

• SAM-DA can achieve better performance on fewer raw images with quicker training.

  Method	Training data	Images	Propotion	Training	AUC (NUT-L)
  Baseline	NAT2021-train	276k	100%	12h	0.377
  SAM-DA	SAM-NAT-N	28k	10%	2.4h	0.411
  SAM-DA	SAM-NAT-T	92k	33%	4h	0.414
  SAM-DA	SAM-NAT-S	138k	50%	6h	0.419
  SAM-DA	SAM-NAT-B	276k	100%	12h	0.430

  For more details, please refer to the paper.

  

Training duration on a single A100 GPU.

License

The model is licensed under the Apache License 2.0 license.

Citations

Please consider citing the related paper(s) in your publications if it helps your research.

@Inproceedings{Yao2023SAMDA,
  title={{SAM-DA: UAV Tracks Anything at Night with SAM-Powered Domain Adaptation}},
  author={Fu, Changhong and Yao, Liangliang and Zuo, Haobo and Zheng, Guangze and Pan, Jia},
  booktitle={Proceedings of the IEEE  International Conference on Advanced Robotics and Mechatronics (ICARM)},
  year={2024}
  pages={1-8}
}
@article{kirillov2023segment,
  title={{Segment Anything}},
  author={Kirillov, Alexander and Mintun, Eric and Ravi, Nikhila and Mao, Hanzi and Rolland, Chloe and Gustafson, Laura and Xiao, Tete and Whitehead, Spencer and Berg, Alexander C and Lo, Wan-Yen and others},
  journal={arXiv preprint arXiv:2304.02643},
  year={2023}
  pages={1-30}
}
@Inproceedings{Ye2022CVPR,
title={{Unsupervised Domain Adaptation for Nighttime Aerial Tracking}},
author={Ye, Junjie and Fu, Changhong and Zheng, Guangze and Paudel, Danda Pani and Chen, Guang},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year={2022},
pages={1-10}
}

Acknowledgments

We sincerely thank the contribution of following repos: SAM, SiamBAN, and UDAT.

Contact

If you have any questions, please contact Liangliang Yao at [email protected] or Changhong Fu at [email protected].