Drone Surveillance Using Detection, Tracking and Classification Techniques

Daitao Xing, Halil Utku Unlu, Nikolaos Evangeliou, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this work, we explore the process of designing a long-term drone surveillance system by fusing object detection, tracking and classification methods. Given a video stream from an RGB-camera, a detection module based on YOLOV5 is trained for finding drones within its field of view. Although in drone detection, high accuracy and robustness is achieved with the underlying complex architecture, the detection speed is hindered on ultra HD-streams. To solve this problem, we integrate a high efficient object tracker to update target status while avoiding running the detection at each frame. Benefited from lightweight backbone networks with powerful Transformer design, the object tracker achieves real-time speed on standalone CPU devices. Moreover, a drone classification model is applied on the output of the detection and tracking mechanisms to further distinguish drones from other background distractors (birds, balloons). By leveraging inference optimization with TensorRT and ONNX, our system achieves extremely high inference speed on NVIDIA GPUs. A ROS package is designed to integrate the aforementioned components together and provide a flexible, end-to-end drone surveillance tool for real-time applications. Comprehensive experiments on both standard benchmarks and field tests demonstrate the effectiveness and stability of proposed system.

Original languageEnglish (US)
Title of host publicationImage Analysis and Processing. ICIAP 2022 Workshops - ICIAP International Workshops, Revised Selected Papers
EditorsPier Luigi Mazzeo, Cosimo Distante, Emanuele Frontoni, Stan Sclaroff
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages12
ISBN (Print)9783031133237
StatePublished - 2022
Event21st International Conference on Image Analysis and Processing , ICIAP 2022 - Lecce, Italy
Duration: May 23 2022May 27 2022

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13374 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference21st International Conference on Image Analysis and Processing , ICIAP 2022


  • Drone detection and classification
  • Object tracking
  • Super resolution

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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