自律UAVのハンドオフによる海洋生物の連続追跡
Continuous Marine Tracking via Autonomous UAV Handoff
安定化RGB-DカメラとOSTrackを搭載したUAVでサメをリアルタイム追跡し、UAV間のハンドオフでバッテリー制限を超えた連続追跡を実現した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
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6. 次に読むべき論文は？
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著者: Heegyeong Kim, Alice James, Avishkar Seth, Endrowednes Kuantama, Jane Williamson, Yimeng Feng, Richard Han
分類: cs.CV, cs.RO
原文アブストラクト
This paper introduces an autonomous UAV vision system for continuous, real-time tracking of marine animals, specifically sharks, in dynamic marine environments. The system integrates an onboard computer with a stabilised RGB-D camera and a custom-trained OSTrack pipeline, enabling visual identification under challenging lighting, occlusion, and sea-state conditions. A key innovation is the inter-UAV handoff protocol, which enables seamless transfer of tracking responsibilities between drones, extending operational coverage beyond single-drone battery limitations. Performance is evaluated on a curated shark dataset of 5,200 frames, achieving a tracking success rate of 81.9\% during real-time flight control at 100 Hz, and robustness to occlusion, illumination variation, and background clutter. We present a seamless UAV handoff framework, where target transfer is attempted via high-confidence feature matching, achieving 82.9\% target coverage. These results confirm the viability of coordinated UAV operations for extended marine tracking and lay the groundwork for scalable, autonomous monitoring.
