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

2. 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

5. 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

11. 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