Conditional Generative Denoiser for Nighttime UAV Tracking

State-of-the-art (SOTA) visual object tracking methods have significantly enhanced the autonomy of un- manned aerial vehicles (UAVs). However, in low-light conditions, the presence of irregular real noise from the environments severely degrades the performance of these SOTA methods. Moreover, existing SOTA denoising techniques often fail to meet the real-time processing requirements when deployed as plug- and-play denoisers for UAV tracking. To address this challenge, this work proposes a novel conditional generative denoiser (CG- Denoiser), which breaks free from the limitations of traditional deterministic paradigms and generates the noise conditioning on the input, subsequently removing it. To better align the input dimensions and accelerate inference, a novel nested resid- ual Transformer conditionalizer is developed. Furthermore, an innovative multi-kernel conditional refiner is designed to pertinently refine the denoised output. Extensive experiments show that CGDenoiser promotes the tracking precision of the SOTA tracker by 18.18% on DarkTrack2021 whereas working 5.8 times faster than the second well-performed denoiser. Real- world tests with complex challenges also prove the effective- ness and practicality of CGDenoiser. Code, video demo and supplementary proof for CGDenoier are now available at: https://github.com/vision4robotics/CGDenoiser.