# Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention

arXiv: https://arxiv.org/abs/2211.14564 · HTML: https://mlsanity.com/paper/2211.14564/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 36 references that are in the map.
- First posted on arXiv 26 Nov 2022.

## Builds on (most cited first, 25 of 25)

- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Fully-Convolutional Siamese Networks for Object Tracking](https://mlsanity.com/paper/1606.09549/) (2016)
- [GOT-10k: A Large High-Diversity Benchmark for Generic Object Tracking in the Wild](https://mlsanity.com/paper/1810.11981/) (2018)
- [SiamRPN++: Evolution of Siamese Visual Tracking with Very Deep Networks](https://mlsanity.com/paper/1812.11703/) (2018)
- [TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild](https://mlsanity.com/paper/1803.10794/) (2018)
- [Fast Online Object Tracking and Segmentation: A Unifying Approach](https://mlsanity.com/paper/1812.05050/) (2018)
- [Ocean: Object-aware Anchor-free Tracking](https://mlsanity.com/paper/2006.10721/) (2020)
- [Siamese Box Adaptive Network for Visual Tracking](https://mlsanity.com/paper/2003.06761/) (2020)
- [Distractor-aware Siamese Networks for Visual Object Tracking](https://mlsanity.com/paper/1808.06048/) (2018)
- [SiamFC++: Towards Robust and Accurate Visual Tracking with Target Estimation Guidelines](https://mlsanity.com/paper/1911.06188/) (2019)
- [Deeper and Wider Siamese Networks for Real-Time Visual Tracking](https://mlsanity.com/paper/1901.01660/) (2019)
- [YouTube-BoundingBoxes: A Large High-Precision Human-Annotated Data Set for Object Detection in Video](https://mlsanity.com/paper/1702.00824/) (2017)
- [Deformable Siamese Attention Networks for Visual Object Tracking](https://mlsanity.com/paper/2004.06711/) (2020)
- [LightTrack: Finding Lightweight Neural Networks for Object Tracking via One-Shot Architecture Search](https://mlsanity.com/paper/2104.14545/) (2021)
- [Learning the Model Update for Siamese Trackers](https://mlsanity.com/paper/1908.00855/) (2019)
- [TCTrack: Temporal Contexts for Aerial Tracking](https://mlsanity.com/paper/2203.01885/) (2022)
- [AutoTrack: Towards High-Performance Visual Tracking for UAV with Automatic Spatio-Temporal Regularization](https://mlsanity.com/paper/2003.12949/) (2020)
- [Unsupervised Domain Adaptation for Nighttime Aerial Tracking](https://mlsanity.com/paper/2203.10541/) (2022)
- [Learning Aberrance Repressed Correlation Filters for Real-Time UAV Tracking](https://mlsanity.com/paper/1908.02231/) (2019)
- [Scale Equivariance Improves Siamese Tracking](https://mlsanity.com/paper/2007.09115/) (2020)
- [Siamese Anchor Proposal Network for High-Speed Aerial Tracking](https://mlsanity.com/paper/2012.10706/) (2020)
- [Correlation Filters for Unmanned Aerial Vehicle-Based Aerial Tracking: A Review and Experimental Evaluation](https://mlsanity.com/paper/2010.06255/) (2020)
- [Mutation Sensitive Correlation Filter for Real-Time UAV Tracking with Adaptive Hybrid Label](https://mlsanity.com/paper/2106.08073/) (2021)
- [Aerial Picking and Delivery of Magnetic Objects with MAVs](https://mlsanity.com/paper/1612.02606/) (2016)

## Built on by (most cited first, 1 of 1)

- [T-SiamTPN: Temporal Siamese Transformer Pyramid Networks for Robust and Efficient UAV Tracking](https://mlsanity.com/paper/2509.12913/) (2025)

## Abstract (arXiv)

Although the manipulating of the unmanned aerial manipulator (UAM) has been widely studied, vision-based UAM approaching, which is crucial to the subsequent manipulating, generally lacks effective design. The key to the visual UAM approaching lies in object tracking, while current UAM tracking typically relies on costly model-based methods. Besides, UAM approaching often confronts more severe object scale variation issues, which makes it inappropriate to directly employ state-of-the-art model-free Siamese-based methods from the object tracking field. To address the above problems, this work proposes a novel Siamese network with pairwise scale-channel attention (SiamSA) for vision-based UAM approaching. Specifically, SiamSA consists of a pairwise scale-channel attention network (PSAN) and a scale-aware anchor proposal network (SA-APN). PSAN acquires valuable scale information for feature processing, while SA-APN mainly attaches scale awareness to anchor proposing. Moreover, a new tracking benchmark for UAM approaching, namely UAMT100, is recorded with 35K frames on a flying UAM platform for evaluation. Exhaustive experiments on the benchmarks and real-world tests validate the efficiency and practicality of SiamSA with a promising speed. Both the code and UAMT100 benchmark are now available at https://github.com/vision4robotics/SiamSA.