1. Multi-UAV Detection and Tracking
Brandon Silva

2. Problem UAVs are becoming more and more popular
As airspace will eventually get more crowded, need accurate and fast collision avoidance
UAVs can’t have much weight
Limited room for sensors
This makes camera based avoidance ideal
Detect and track moving UAVs from a moving UAV

3. Dataset
From Purdue:
Multi-Target Detection and Tracking from a Single Camera in Unmanned Aerial Vehicles (UAVs)
50 video sequences, frames, 30 FPS at 1920x1080 and 1280x960
Bounding box annotations

6. Challenges UAVs are very small, and often blend in with background
Multiple UAVs, up to 8, can appear in the camera at once
Camera taking the video is also moving, so must compensate
UAVs don’t have much spatial features, so it makes it harder to detect
UAVs can also be close to the camera, so must be able to detect them far and close

7. Approach
Use video stabilization methods to compensate for moving camera
Affine transformation
Perspective transformation
Detect UAVs
Output heatmaps where UAVs are predicted to be
Track UAVs
Follow multiple UAVs as they move
Apply optical flow methods to help reduce false positives
Data association: detect a UAV and be able to tell it apart from other UAVs as it moves