相关论文: MATrack: Efficient Multiscale Adaptive Tracker for…

Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…

Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…

In this work, we consider data association problems involving multi-object tracking (MOT). In particular, we address the challenges arising from object occlusions. We propose a framework called approximate dynamic programming track…

Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most…

Infrared object tracking plays a crucial role in Anti-Unmanned Aerial Vehicle (Anti-UAV) applications. Existing trackers often depend on cropped template regions and have limited motion modeling capabilities, which pose challenges when…

With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…

We propose FutrTrack, a modular camera-LiDAR multi-object tracking framework that builds on existing 3D detectors by introducing a transformer-based smoother and a fusion-driven tracker. Inspired by query-based tracking frameworks,…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

Existing tracking algorithms typically rely on low-frame-rate RGB cameras coupled with computationally intensive deep neural network architectures to achieve effective tracking. However, such frame-based methods inherently face challenges…

Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a…

Multi-object tracking (MOT) at low frame rates can reduce computational, storage and power overhead to better meet the constraints of edge devices. Many existing MOT methods suffer from significant performance degradation in low-frame-rate…

Real-time tracking of small unmanned aerial vehicles (UAVs) on edge devices faces a fundamental resolution-speed conflict. Downsampling high-resolution imagery to standard detector input sizes causes small target features to collapse below…

In recent years, the field of visual tracking has made significant progress with the application of large-scale training datasets. These datasets have supported the development of sophisticated algorithms, enhancing the accuracy and…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly…

Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) capable of achieving trajectory tracking for nonlinear…

Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for…

Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…

Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…