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EECTracker: Swarm Motion Prior-Guided Feature Compensation for Airborne Optical UAV Swarm Tracking

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Airborne optical tracking of uncrewed aerial vehicle (UAV) swarms is challenging due to extremely small target scales, rapid viewpoint changes, and cluttered backgrounds, which can weaken target feature responses and lead to intermittent or temporarily missing detector responses. Existing multi-object tracking methods generally depend on reliable target-specific detector responses to maintain target states and identities across frames. When such responses become unreliable, target states cannot be reliably updated and cross-frame association cues become ambiguous, resulting in fragmented traje

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