A Benchmark and Simulator for UAV Tracking

Matthias Mueller, Neil Smith, Bernard Ghanem

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

1208 Scopus citations


In this paper, we propose a new aerial video dataset and benchmark for low altitude UAV target tracking, as well as, a photorealistic UAV simulator that can be coupled with tracking methods. Our benchmark provides the first evaluation of many state-of-the-art and popular trackers on 123 new and fully annotated HD video sequences captured from a low-altitude aerial perspective. Among the compared trackers, we determine which ones are the most suitable for UAV tracking both in terms of tracking accuracy and run-time. The simulator can be used to evaluate tracking algorithms in real-time scenarios before they are deployed on a UAV “in the field”, as well as, generate synthetic but photo-realistic tracking datasets with automatic ground truth annotations to easily extend existing real-world datasets. Both the benchmark and simulator are made publicly available to the vision community on our website to further research in the area of object tracking from UAVs. (https://ivul.kaust.edu.sa/Pages/pub-benchmark-simulator-uav.aspx.). © Springer International Publishing AG 2016.
Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science
PublisherSpringer Nature
Number of pages17
ISBN (Print)9783319464473
StatePublished - Sep 17 2016


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