Multi-Target Detection and Tracking of UAVs from a UAV Brandon Silva

Project Overview: Multi-UAV Detection and Tracking Detection multiple UAVs from another UAV camera flying around Up to 8 UAVs at one time Bounding Box annotations Applications: Collision Avoidance Drone Racing Detecting small animals’ movement Previous works: Optical flow to track the UAVs only Optical flow with a simple CNN to classify UAVs found using optical flow as false positives or not

Tasks Stabilize Videos, as the videos are quite shaky from movements of the UAV Transform annotations to stabilized videos Generate heatmaps from video (Binary and Gaussian) Build and test different models/methods to detect UAVs Create a method for tracking UAVs, keeping track of which UAV is which from frame to frame

Current Model Fully 2D CNN (preserves temporal relationship between frames compared to a 3D CNN) Pass through 5 consecutive frames, output predictions for UAVs for the middle frame Last layer is a 2D Convolutional layer that outputs a heatmap, where pixel values close to 1 represent detected motion Currently working to replicate results of a similar dataset and apply that to this dataset Some issues with the model need to be worked out to get results: Loss drops to 0 and outputs are all zeros