I. Introduction
Infrared search and track (IRST) systems have been widely applied to infrared warning and defense alertness projects [1], [2]. Compared with radar systems and visible light systems, IRST systems have good resolution, strong smoke penetration, and good concealment [3], [4]. As a key technique in IRST systems, the early detection of small target (e.g., enemy airplane, missile, and ship in the distance) with unknown position and velocity is conducive to warn potential threat and take countermeasures [5]–[7]. However, infrared images might be contaminated by the noise and nonuniformity of gray distributions in the imaging process. The images tend to have poor contrast. Besides, the projected targets at a far distance are usually small and dim without concrete shapes, textures, and structure information [2], [8], [9]. Therefore, it is a difficult and challenging task to detect small target under such low signal-to-clutter ratio (SCR) and complex infrared backgrounds. To solve the detection problem, various methods have been proposed in the past few decades.