{"ID":6537617,"CreatedAt":"2026-07-14T02:54:43.516908796Z","UpdatedAt":"2026-07-15T03:28:55.185153975Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.11303","arxiv_id":"2607.11303","title":"ASUMOT: Motion-Consistency-Based Asynchronous UAV Detection and Tracking with Event Cameras","abstract":"Event cameras offer microsecond-level temporal resolution and high dynamic range for low-altitude UAV perception. However, long-range UAVs often produce sparse, fragmented, and noise-contaminated event responses, where one semantic target may appear as multiple spatially separated blobs. Direct blob-level asynchronous tracking therefore suffers from duplicate trajectories and unstable identities. We propose ASUMOT, a motion-consistency-based asynchronous UAV detection and tracking framework operating directly on raw events. ASUMOT models each UAV as a set of motion-consistent event blobs. A local motion-consistency estimator triggers reliable candidates, a lightweight multi-task verifier provides UAV confidence and motion-direction cues, and motion-consistency clustering aggregates fragmented blobs into identity-consistent UAV tracks. We also introduce ES-UAV, a high-definition event-level UAV benchmark with dense semantic annotations. Experiments on public UAV tracking data and ES-UAV show that ASUMOT improves the accuracy--efficiency trade-off while preserving asynchronous event processing. Code and Dataset will be released.","short_abstract":"Event cameras offer microsecond-level temporal resolution and high dynamic range for low-altitude UAV perception. However, long-range UAVs often produce sparse, fragmented, and noise-contaminated event responses, where one semantic target may appear as multiple spatially separated blobs. Direct blob-level asynchronous...","url_abs":"https://arxiv.org/abs/2607.11303","url_pdf":"https://arxiv.org/pdf/2607.11303v1","authors":"[\"Baofeng Jia\",\"Xiaoyu Chen\",\"Jingyuan Zhang\",\"Zongze Wu\",\"Haochen li\",\"Jing Han\",\"Lianfa Bai\"]","published":"2026-07-13T09:19:41Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[]","has_code":false}