Visual data collected from Unmanned Aerial Vehicles (UAVs) has opened a new frontier of computer vision that requires automated analysis of aerial images/videos. However, the existing UAV datasets primarily focus on object detection. An object detector does not differentiate between the moving and non-moving objects. Given a real-time UAV video stream, how can we both localize and classify the moving objects, i.e. perform moving object recognition (MOR)? The MOR is one of the essential tasks to support various UAV vision-based applications including aerial surveillance, search and rescue, event recognition, urban and rural scene understanding.To the best of our knowledge, no labeled dataset is available for MOR evaluation in UAV videos. Therefore, in this paper, we introduce MOR-UAV, a large-scale video dataset for MOR in aerial videos. We achieve this by labeling axis-aligned bounding boxes for moving objects which requires less computational resources than producing pixel-level estimates. We annotate 89,783 moving object instances collected from 30 UAV videos, consisting of 10,948 frames in various scenarios such as weather conditions, occlusion, changing flying altitude and multiple camera views. We assigned the labels for two categories of vehicles (car and heavy vehicle). Furthermore, we propose a deep unified framework MOR-UAVNet for MOR in UAV videos. Since, this is a first attempt for MOR in UAV videos, we present 16 baseline results based on the proposed framework over the MOR-UAV dataset through quantitative and qualitative experiments. We also analyze the motion-salient regions in the network through multiple layer visualizations. The MOR-UAVNet works online at inference as it requires only few past frames. Moreover, it doesn't require predefined target initialization from user. Experiments also demonstrate that the MOR-UAV dataset is quite challenging.
This paper presents a new high resolution aerial images dataset in which moving objects are labelled manually. It aims to contribute to the evaluation of the moving object detection methods for moving cameras. The problem of recognizing moving objects from aerial images is one of the important issues in computer vision. The biggest problem in the images taken by UAV is that the background is constantly variable due to camera movement. There are various datasets in the literature in which proposed methods for motion detection are evaluated. Prepared dataset consists of challenging images contai…
University of Twente（特文特大学）；Wuhan University（武汉大学）；Ohio State University（俄亥俄州立大学）
Semantic segmentation has been one of the leading research interests in computer vision recently. It serves as a perception foundation for many fields, such as robotics and autonomous driving. The fast development of semantic segmentation attributes enormously to the large scale datasets, especially for the deep learning related methods. There already exist several semantic segmentation datasets for comparison among semantic segmentation methods in complex urban scenes, such as the Cityscapes and CamVid datasets, where the side views of the objects are captured with a camera mounted on the dri…
University of Udine（乌迪内大学）；Sapienza University（罗马第一大学）
In recent years, the technological improvements of low-cost small-scale Unmanned Aerial Vehicles (UAVs) are promoting an ever-increasing use of them in different tasks. In particular, the use of small-scale UAVs is useful in all these low-altitude tasks in which common UAVs cannot be adopted, such as recurrent comprehensive view of wide environments, frequent monitoring of military areas, real-time classification of static and moving entities (e.g., people, cars, etc.). These tasks can be supported by mosaicking and change detection algorithms achieved at low-altitude. Currently, public datase…
More Clear, More Flexible, More Precise: A Comprehensive Oriented Object Detection benchmark for UAV
Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China（多媒体可信感知与高效计算重点实验室，中华人民共和国教育部）；Institute of Artificial Intelligence, Xiamen University（人工智能学院，厦门大学）；School of Informatics, Xiamen University（信息学院，厦门大学）；Fujian Engineering Research Center of Trusted Artificial Intelligence Analysis and Application, Institute of Artificial Intelligence, Xiamen University（福建工程研究中心可信人工智能分析与应用，人工智能学院，厦门大学）；Peng Cheng Laboratory, Shenzhen（鹏城实验室，深圳）
View-Centric Multi-Object Tracking with Homographic Matching in Moving UAV
MoE Key Laboratory of Brain-inspired Intelligent Perception and Cognition, University of Science and Technology of China（脑启发智能感知与认知教育部重点实验室，中国科学技术大学）；Singapore University of Technology and Design（新加坡科技设计大学）；Alibaba Group（阿里巴巴集团）；Department of Computer Science and Engineering, Shanghai Jiao Tong University（上海交通大学计算机科学与工程系）
Adaptive Data Transport Mechanism for UAV Surveillance Missions in Lossy Environments
School of Computing, Clemson University（克莱姆森大学计算机学院）；California State University, Los Angeles（加州州立大学洛杉矶分校）；Lincoln Laboratory, Massachusetts Institute of Technology（麻省理工学院林肯实验室）
École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）；Graz University of Technology（格拉茨工业大学）
We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a difficult problem requires combining both appearance and motion cues. To this end we propose a regression-based approach to motion stabilization of local image patches that allows us to achieve effective classification on spatio-temporal image cubes and outperform state-of-the-art techniques. As the problem is relatively new, we collected two challenging dataset…
KIOS Research and Innovation Center of Excellence（KIOS卓越研究与创新中心）；University of Cyprus（塞浦路斯大学）
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present an autonomous UAV landing system for landing on a moving platform. In contrast to existing attempts, the proposed system relies only on the camera sensor, and has been designed as lightweight as possible. The proposed system can be deployed on a low power platform as part of the drone payload, whilst being indifferent to any external communication or any ot…
Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）
We propose TRADE for robust tracking and 3D localization of a moving target in cluttered environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware target following. Tracking-by-detection approaches are vulnerable to target switching, especially between similar objects. Thus, TRADE predicts and incorporates the target 3D trajectory to select the right target from the tracker's response map. Unlike static environments, depth estimation of a moving target from a single camera is a ill-posed problem. Therefore we propose a novel 3D localization method for ground targ…
M$^2$E-UAV: A Benchmark and Analysis for Onboard Motion-on-Motion Event-Based Tiny UAV Detection
Fujian Key Laboratory of Urban Intelligent Sensing and Computing, School of Informatics, Xiamen University, Xiamen, China（福建城市智能感知与计算重点实验室，厦门大学信息学院，厦门，中国）；Meta, Menlo Park, USA（Meta，Menlo Park，美国）
How Far are Modern Trackers from UAV-Anti-UAV? A Million-Scale Benchmark and New Baseline
Shanghai Jiao Tong University（上海交通大学）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；CloudWalk Technology Co., Ltd（云walk科技有限公司）；School of Artificial Intelligence, Shanghai Jiao Tong University（上海交通大学人工智能学院）；School of Aeronautics and Astronautics, Sun Yat-sen University（中山大学航空宇航学院）；Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest. Different modes of operation allow OpenREALM to perform simple stitching assuming an approximate plane ground, or to fully recover complex 3D surface information to extract both elevation maps and geometrically corrected orthophotos. Additionally, the global position of the UAV is used to georeference the data. In all modes incremental progress of the resul…
University of Chinese Academic of Sciences（中国科学院大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Institute of North Electronic Equipment（北方电子设备研究所）；Baidu Research（百度研究院）
Unmanned Aerial Vehicle (UAV) offers lots of applications in both commerce and recreation. With this, monitoring the operation status of UAVs is crucially important. In this work, we consider the task of tracking UAVs, providing rich information such as location and trajectory. To facilitate research on this topic, we propose a dataset, Anti-UAV, with more than 300 video pairs containing over 580k manually annotated bounding boxes. The releasing of such a large-scale dataset could be a useful initial step in research of tracking UAVs. Furthermore, the advancement of addressing research challen…
FTDMamba: Frequency-Assisted Temporal Dilation Mamba for Unmanned Aerial Vehicle Video Anomaly Detection
Information Materials and Intelligent Sensing Laboratory of Anhui Province（安徽省信息材料与智能感知实验室）；Anhui Provincial Key Laboratory of Multimodal Cognitive Computation（安徽省多模态认知计算重点实验室）；School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；Department of Computer Science and Engineering, The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）计算机科学与工程系）
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D reconstruction of a single moving point with known motion dynamics. Our main contribution is a new bundle adjustment procedure which in addition to optimizing the camera poses, regularizes the point trajectory using a prior based on motion dynamics (or specifically flight dynamics). Furthermore, we can infer the underlying control input sent to the UAV's autopilot…
This paper describes a computationally-enhanced M100 UAV platform with an onboard deep learning inference system for integrated computer vision and navigation able to autonomously find and visually identify by coat pattern individual Holstein Friesian cattle in freely moving herds. We propose an approach that utilises three deep convolutional neural network architectures running live onboard the aircraft; that is, a YoloV2-based species detector, a dual-stream CNN delivering exploratory agency and an InceptionV3-based biometric LRCN for individual animal identification. We evaluate the perform…
Our CoBot robots have successfully performed a variety of service tasks in our multi-building environment including accompanying people to meetings and delivering objects to offices due to its navigation and localization capabilities. However, they lack the capability to visually search over desks and other confined locations for an object of interest. Conversely, an inexpensive GPS-denied quadcopter platform such as the Parrot ARDrone 2.0 could perform this object search task if it had access to reasonable localization. In this paper, we propose the concept of coordination between CoBot and t…
