Факультет інформатики

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Browsing Факультет інформатики by Author "Matsevytyi, Andrii"

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    Real-Time Object Tracking Algorithms for UAV Companion Computers
    (2025) Matsevytyi, Andrii; Kurochkin, Andrew
    Integration of object tracking capabilities into unmanned aerial vehicles (UAVs) represents one of the most relevant and at the same time one of the most significant technological challenges when designing autonomous systems. This report examines best industry real-time object tracking algorithms, with respect to UAV companion computers environment and use-case specifics, evaluates their efficiency and performance, and introduces own relevant metrics for comprehensive purpose-fit evaluation of tracking algorithms. The research focuses on comparison between traditional mathematical approaches and modern deep learning-based methods, particularly Siamese network architectures, with motivation to determine optimal solutions for resource-constrained UAV companion computers. During the analysis, the UAV123 dataset was used, 9 tracking algorithms were overviewed and extensively studied. 5 of them were selected, implemented or deployed, and evaluated: Lucas-Kanade Tracker (KLT), Minimum Output Sum of Squared Error (MOSSE), Discriminative Correlation Filter with Channel and Spatial Reliability (CSRT), Distractor-aware Siamese Region Proposal Network (DaSiamRPN), and NanoTrack. In this studies we found out that deep learning-based trackers significantly outperform traditional approaches in tracking accuracy forUAV related use cases. However, computational requirements vary across platforms, with DaSiamRPN requiring GPU acceleration for real-time performance while NanoTrack maintains reasonable frame rates even on CPU-only platforms. Clear guidelines for tracker selection based on UAV class and mission requirements were established.