Multi-Modal UAV Detection, Classification and Tracking Algorithm -- Technical Report for CVPR 2024 UG2 Challenge

TL;DR

This paper introduces a multi-modal UAV detection, classification, and 3D tracking system that leverages stereo vision, Lidars, Radars, and audio data, achieving top performance in the CVPR 2024 UG2+ challenge.

Contribution

It presents a novel multi-modal fusion pipeline, a new classification approach with sequence fusion and ROI cropping, and an integrated pose estimation method for UAV tracking.

Findings

Achieved best performance in UAV classification and tracking on MMUAD dataset.

Validated effectiveness through extensive experiments and ablation studies.

Demonstrated robustness in extreme weather conditions with multi-modal data.

Abstract

This technical report presents the 1st winning model for UG2+, a task in CVPR 2024 UAV Tracking and Pose-Estimation Challenge. This challenge faces difficulties in drone detection, UAV-type classification and 2D/3D trajectory estimation in extreme weather conditions with multi-modal sensor information, including stereo vision, various Lidars, Radars, and audio arrays. Leveraging this information, we propose a multi-modal UAV detection, classification, and 3D tracking method for accurate UAV classification and tracking. A novel classification pipeline which incorporates sequence fusion, region of interest (ROI) cropping, and keyframe selection is proposed. Our system integrates cutting-edge classification techniques and sophisticated post-processing steps to boost accuracy and robustness. The designed pose estimation pipeline incorporates three modules: dynamic points analysis, a multi-object tracker, and trajectory completion techniques. Extensive experiments have validated the effectiveness and precision of our approach. In addition, we also propose a novel dataset pre-processing method and conduct a comprehensive ablation study for our design. We finally achieved the best performance in the classification and tracking of the MMUAD dataset. The code and configuration of our method are available at https://github.com/dtc111111/Multi-Modal-UAV.