Moving Like a Human: Ego-Motion-Normalized Temporal Signatures for Real-Time Aerial Person Tracking on Milliwatt-Class Hardware
Follow-me person tracking must run on the drone itself, where affordable companion computers offer only a few effective int8 GFLOP/s. At typical follow distances a person spans 10-60 pixels, indistinguishable from clutter and beyond the reach of single-frame appearance detectors. The missing evidence is temporal and belongs in the input representation, computed analytically, rather than in learned temporal machinery. EMTS-Det is a five-stage system that estimates ego-motion, converts each frame into ego-motion-normalized residual-motion channels, detects person centers with a 22k-parameter, 7.6-MFLOP network, tracks a locked target with a Kalman filter in stabilized coordinates, and verif...
| Authors | Akbar Anbar Jafari, Cagri Ozcinar, Gholamreza Anbarjafari |
|---|---|
| Primary category | cs.CV |
| Published | 9 July 2026 |
| Last updated at source | 9 July 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.