UAVREL：无人机视频动态关系理解基准数据集

刘晓瑞; 邓楚博; 侯钟砚; 严启炜; 卢宛萱; 侯英妍; 于泓峰; 孙显

doi:10.11999/JEIT260221

UAVREL：无人机视频动态关系理解基准数据集

doi: 10.11999/JEIT260221 cstr: 32379.14.JEIT260221

刘晓瑞^{1, 2, 3, 4},
邓楚博^{1, 4, ,},
侯钟砚^{1, 2, 3, 4},
严启炜^{1, 2, 3, 4},
卢宛萱^{1, 4},
侯英妍^{1, 2, 3, 4},
于泓峰^{1, 4},
孙显^{1, 2, 3, 4}

1.
中国科学院空天信息创新研究院北京 100190
2.
中国科学院大学北京 100190
3.
中国科学院大学电子电器与通信工程学院北京 100190
4.
目标认知与应用技术国家级重点实验室北京 100190

基金项目: 国家自然科学基金青年科学基金42301437

详细信息

作者简介:
刘晓瑞：男，硕士生，研究方向为遥感图像智能解译

邓楚博：男，副研究员，研究方向为遥感图像智能解译

侯钟砚：男，博士生，研究方向为遥感图像智能解译

严启炜：男，博士生，研究方向为遥感图像智能解译

卢宛萱：女，副研究员，研究方向为遥感图像智能解译

侯英妍：女，博士生，研究方向为遥感图像智能解译

于泓峰：男，副研究员，研究方向为遥感图像智能解译

孙显：男，研究员，研究方向为遥感图像智能解译

通讯作者:
邓楚博　dengcb@aircas.an.cn

中图分类号: TP751.2
计量
- 文章访问数: 27
- HTML全文浏览量: 7
- PDF下载量: 2
- 被引次数: 0
出版历程
- 收稿日期: 2026-03-01
- 修回日期: 2026-07-28
- 录用日期: 2026-07-28
- 网络出版日期: 2026-09-01

UAVREL: A Benchmark Dataset for Dynamic Relation Comprehension in UAV Videos

LIU Xiaorui^{1, 2, 3, 4},
DENG Chubo^{1, 4
, ,},
HOU Zhongyan^{1, 2, 3, 4},
YAN Qiwei^{1, 2, 3, 4},
LU Wanxuan^{1, 4},
HOU Yingyan^{1, 2, 3, 4},
YU Hongfeng^{1, 4},
SUN Xian^{1, 2, 3, 4}

1.
Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China
2.
University of Chinese Academy of Sciences, Beijing 100190, China
3.
School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 100049, China
4.
Key Laboratory of Target Cognition and Application Technology(TCAT), Beijing 100190, China

Funds: National Natural Science Foundation of China (Grant Number: 42301437)

摘要

摘要: 视频场景图生成是一项从视频中提取目标及其相互关系的高级视觉理解任务。目前相关研究多聚焦于自然场景，在遥感领域仍有待深入探索。无人机视频视角变化明显且目标尺度差异大，使得数据标注成本显著增加，缺乏大规模基准数据集是现阶段无人机视频场景图生成研究的主要障碍。该文构建了一个无人机视频关系理解数据集，在50个无人机视频中标注了12个目标类别，共计876687个目标框；并基于目标框标注了20个关系类别，共计459164个关系三元组。同时，提出了一种时空超图增强关系理解方法，利用超图结构对无人机视频复杂目标关联进行建模，从而实现更有效的特征聚合，增强了无人机视频关系理解能力。为评估主流方法在该数据集上的性能表现，该文对目标检测任务及场景图生成的三个子任务进行了全面测试与对比。结果表明，所提方法在场景图生成三个子任务共18个精度指标中8个优于基线方法。
- 场景图生成 /
- 无人机视频 /
- 关系理解
Abstract: Objective With the rapid development and extensive application of unmanned aerial vehicle (UAV) observation platforms, remote sensing video data with high spatiotemporal resolution has witnessed explosive growth. Understanding dynamic relationships in UAV videos is recognized as a pressing research challenge in intelligent remote sensing analysis. Current research on video scene graph generation is mainly focused on natural videos, while studies on remote sensing videos remain in the exploratory stage, with a lack of benchmark datasets annotated with high-order dynamic relationships. Traditional visual models are difficult to be directly adapted to remote sensing scenes, which are characterized by dynamic view changes, extreme object scale variations, and dense target distributions. To address these limitations, a UAV video relationship dataset (UAVREL) with high-order dynamic relationship annotations is constructed, a hypergraph-enhanced transformer method tailored to the characteristics of UAV videos is proposed, and a unified benchmark evaluation system for video scene graph generation in the field of UAV remote sensing is established in this study. These efforts promote the transformation of intelligent remote sensing interpretation technology from static object cognition to global dynamic scene understanding. Methods This study is mainly composed of three core parts: dataset construction, model design, and comprehensive experimental validation. First, in the dataset construction stage, the Unmanned Aerial Vehicle Benchmark for Object Detection and Tracking (UAVDT) dataset is selected as the basic data source. A semi-automatic annotation strategy is proposed, integrating object tracking, multi-person collaboration, and consensus verification to mitigate subjective bias and improve efficiency. The relationships are divided into three levels according to the requirements of cross-frame inference, among which high-order relationships are annotated with high priority. Second, A Hypergraph-Enhanced Transformer model (STHG) is proposed in this work. It includes six core functional modules: basic feature extraction, pairwise context encoding, spatial-temporal dual hypergraph enhancement, multi-source feature fusion, global temporal modeling and relation prediction. On this basis, a multi-label classifier generates the final dynamic scene graphs. In the experimental design, to verify the effectiveness of the dataset and the model, an object detection task and three video scene graph generation subtasks, namely predicate classification (PreCls), scene graph classification (SGCls), and scene graph detection (SGDet), are conducted on the UAVREL dataset. Representative object detection models and classic scene graph generation models are selected as baselines. Mean Average Precision (mAP) and mAP@50 are adopted as evaluation metrics for detection, while Recall@K and meanRecall@K (mR@K) are used for scene graph generation to comprehensively evaluate the performance of the model in relation recognition and graph construction. Results and Discussions In the object detection task, the impact of model architectures on detection performance is systematically verified through comparative experiments on eight models with different architectures (Table 2). The results show that the selection of model architecture is of crucial importance to the mean Average Precision (mAP), a core evaluation metric. Single-stage anchor-free models represented by VFNet and DDOD exhibit significant advantages in comprehensive detection performance. From the perspective of category characteristics, all models perform poorly in detecting small-scale and easily occluded target categories, which reflects the common technical challenge faced by current general object detectors in small target detection tasks. In the video scene graph generation task, five methods are tested on three subtasks respectively (Table 3, Table 4, Table 5). The STHG method proposed in this paper shows significant performance advantages in all three core tasks. Meanwhile, experimental data indicate that the value of the average recall metric is consistently significantly lower than that of the traditional recall metric. This phenomenon clearly shows that the dataset poses great modeling challenges in task scenarios with low-frequency object relationships, and implicitly reflects that relationship prediction in such complex scenarios remains a key challenge to be solved urgently in the field of drone video scene graph generation. Conclusions This paper focuses on the critical theme of understanding dynamic relationships in drone videos. It constructs the UAVREL benchmark dataset, providing data support with deeper semantic relationships for this field. And it proposes a Hypergraph-Enhanced Transformer approach for Remote Sensing Videos. Experimental results demonstrate that this approach achieves superior performance across multiple evaluation metrics, thus validating its practical applicability in remote sensing dynamic relationship prediction tasks. Through dataset construction and algorithmic innovation, this paper not only lays a solid data foundation for understanding drone video relationships, but also facilitates a leap from low-level semantic analysis to high-level dynamic semantic cognitive modeling in remote sensing video analysis. Future research will focus on the following two directions: Firstly, deepening the temporal dimension modeling of dynamic remote sensing scene graph generation to enhance the ability to capture long-term evolutionary events and complex relationships; secondly, expanding the scene coverage and diversity of relationship categories in the dataset, continuously improving algorithm benchmarks, and promoting technological iteration and industry application implementation.
- Video scene graph generation /
- Remote sensing /
- Relation comprehension

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图 1 动态关系层级定义

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图 2 UAVREL与AeroEye数据集同场景关系层级对比

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图 3 关联半自动标注流程

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图 4 帧级标注数据分布统计图

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图 5 目标标注数量统计

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图 6 目标尺度分布箱线图

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图 7 关系标注数量统计

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图 8 主客体交互强度矩阵

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图 9 时空超图协同增强动态关系理解框架

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图 10 目标检测实验结果可视化示例

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图 11 场景图生成实验结果可视化示例

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表 1 自然场景与遥感场景中数据集统计对比

	数据集名称	视频	帧数 / 图片数	尺寸	目标标注	关系标注	目标类别	目标数量	关系类别	关系数量	年份
自然场景	Visual Phrase^[14]	×	2.8K	/	√	√	8	3.3K	17	1.8K	2011
	VRD^[15]	×	5K	/	√	√	100	/	70	38.0K	2016
	Visual Genome^[16]	×	108K	72～1280	√	√	33877	3.8M	42374	2.3M	2017
	VrR-VG^[17]	×	59K	72～1280	√	√	1600	282.5K	117	203.4K	2019
	VidVRD^[18]	√	296.2K	1920×1080	√	√	35	/	132	55.6K	2017
	VidOR^[19]	√	55.4K	640×360	√	√	80	38.6K	50	297.4K	2019
	Action Genome^[13]	√	234.3K	1280×720	√	√	35	476.2K	25	1.7M	2020
	PVSG^[20]	√	153K	1920×1080	√	√	126	/	57	/	2023
遥感场景	DOTA^[21]	×	2.8K	800～4000	√	×	15	188.3K	/	/	2018
	DIOR-R^[22]	×	23.5K	800×800	√	×	20	192.5K	/	/	2022
	MONET^[23]	×	53K	800×600	√	×	2	162K	/	/	2023
	ReCon1M^[24]	×	21K	400～10000	√	√	60	873.8K	59	1.1M	2024
	UAVDT^[25]	√	80K	1080×540	√	×	3	841.5K	/	/	2018
	UAVid^[26]	√	0.3K	4096×2160	√	×	8	/	/	/	2020
	Brutal Running^[27]	√	1K	227×227	√	×	1	/	/	/	2021
	UIT-ADrone^[28]	√	206.2K	1920×1080	√	×	8	69.5K	/	/	2023
	AeroEye^[29]	√	261.5K	3840×2160	√	√	57	2.2M	384	43M	2024
	UAVREL(本文)	√	40K	1024×540	√	√	12	884.8K	20	459.7K	2026

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表 2 目标检测结果

目标类别		方法
目标类别		a	b	c	d	e	f	g	h
关口		59.4	53.8	55.5	57.3	57.1	54.4	57.8	58.5
非机动车		19.4	19.1	15.4	21.0	19.8	17.7	21.6	21.5
公交车		53.4	52.3	51.4	54.1	53.8	54.0	56.3	54.8
公交车站		45.7	41.9	42.7	45.2	45.2	47.8	45.2	46.5
汽车		50.8	51.3	51.9	55.9	54.6	53.4	57.9	58.1
路口		58.5	59.5	58.8	60.0	56.7	56.1	63.3	62.4
停车点		49.1	50.5	47.5	48.0	46.8	49.6	51.1	50.9
行人		12.2	9.7	9.7	15.7	18.7	13.7	17.2	18.0
道路		55.1	55.0	54.0	56.2	54.5	52.7	57.0	57.4
人行道		46.6	47.6	45.5	44.0	43.0	44.0	49.2	48.9
收费站		57.6	57.3	45.7	48.1	39.3	47.8	54.0	53.5
货车		44.0	44.8	44.4	47.1	36.4	36.5	48.6	47.6
均值	mAP(%)	46.0	45.4	43.5	46.1	43.8	44.0	48.3	48.2
均值	mAP@50(%)	69.3	67.5	68.3	70.8	68.5	68.3	73.0	72.8
注：表中(a)Faster R-CNN、(b)Cascade R-CNN、(c)RetinaNet、(d)ATSS、(e)AutoAssign、(f)FCOS、(g)VFNet、(h)DDOD

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表 3 UAVREL数据集的场景图生成方法实验结果R@K(%)

方法	PredCls			SGCls			SGDet
方法	K=20	K=50	K=100	K=20	K=50	K=100	K=20	K=50	K=100
IMP^[38]	71.7	77.9	79.3	68.5	73.9	75.2	43.1	48.9	51.4
Motifs^[39]	77.6	83.5	85.2	70.7	76.5	78.0	53.4	59.0	60.8
VCTree^[40]	74.6	80.9	82.6	71.4	76.9	78.5	48.3	55.4	58.0
STTran^[41]	78.2	85.0	87.2	74.0	81.7	82.1	51.3	57.9	60.3

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表 4 UAVREL数据集的场景图生成方法实验结果mR@K(%)

方法	PreCls				SGCls				SGDet
方法	IMP^[38]	Motifs^[39]	VCTree^[40]	STTran^[41]	IMP^[38]	Motifs^[39]	VCTree^[40]	STTran^[41]	IMP^[38]	Motifs^[39]	VCTree^[40]	STTran^[41]
阻碍	52.4	66.8	74.9	65.1	48.7	56.4	58.6	61.6	21.1	63.3	29.5	37.9
并排行驶	67.7	67.7	61.3	68.3	46.8	60.8	61.3	71.7	01.6	61.8	16.7	30.3
驾驶跟随	58.7	60.9	53.2	76.2	49.0	64.9	55.9	65.4	10.5	66.9	9.2	17.4
直行	72.6	82.8	81.6	92.2	72.0	81.9	80.6	89.2	58.5	67.0	66.1	72.3
放行	58.1	91.9	64.5	90.8	48.8	48.8	47.4	49.7	20.9	42.1	37.6	43.8
超车	84.9	90.9	80.1	91.3	74.4	79.6	76.2	81.3	22.6	57.2	41.3	50.6
停车等待	60.1	75.1	81.4	82.4	62.2	74.3	76.3	77.2	43.2	70.8	58.6	62.1
骑行穿过	64.6	97.8	92.8	96.6	70.7	66.0	58.6	68.3	35.9	45.3	37.3	41.8
……	……	……	……	……	…….	……	……	……	……	……	……	……
避让	4.2	41.7	29.2	33.3	18.8	33.3	27.1	12.5	0.0	0.0	0.0	0.0
汇入	0.0	20.0	10.0	10.0	0.0	5.0	10.0	0.0	0.0	5.0	5.0	0.0
mR@20	42.7	50.8	48.0	46.8	41.5	42.8	43.2	44.4	19.3	32.8	23.2	26.3
mR@50	54.2	68.6	65.6	67.2	51.1	62.0	60.0	62.3	25.1	45.5	36.8	39.4
mR@100	57.7	73.9	70.3	73.6	54.4	66.8	64.1	67.7	28.2	49.9	42.1	45.6

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表 5 STHG场景图生成方法实验结果(%)

STHG	PredCls			SGCls			SGDet
STHG	K=20	K=50	K=100	K=20	K=50	K=100	K=20	K=50	K=100
R@K	78.4	84.9	87.1	74.8	81.9	82.3	53.5	59.1	60.7
mR@K	49.1	66.8	72.5	44.9	62.6	68.7	30.9	43.6	47.8
H@K	60.3	74.8	79.1	56.1	71.0	74.9	39.2	50.2	53.5

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