Occlusion-Aware Tiny RGB-Thermal Fusion Transformer for Small-UAV Tracking in Cluttered Airspace

Small unmanned aerial vehicles are difficult to track because their appearance changes across visible and thermal sensors, particularly under low illumination, thermal crossover, and temporary disappearance. This paper presents OATF, a ۴,۷۲۲-parameter fusion transformer that weights multiscale correlation evidence and couples it with a temporally calibrated presence gate. A reproducible study on ۱۴ validation and ۱۸ independent Anti-UAV ۳۰۰ sequences shows that OATF improves average overlap, IOU-۰.۵ success, and normalized precision over the best single modality. However, its official Anti-UAV accuracy remains ۰.۱۵۲ versus ۰.۱۹۶ for infrared-only tracking, exposing absence calibration as the principal limitation.

کلیدواژه ها:

Anti-UAV tracking ، RGB-thermal fusion ، tiny transformer ، occlusion awareness ، sensor reliability