Conference paper Open Access

Towards UAS Surveillance using Event Cameras

J. R. Martínez-de Dios; A. Gomez Eguiluz; J. P. Rodríguez-Gómez; R. Tapia; A. Ollero


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    "title": "Towards UAS Surveillance using Event Cameras", 
    "notes": "This work was supported by the ARM-EXTEND (DPI2017-8979-R) project funded by the Spanish National R&D Plan.", 
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        "title": "General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety", 
        "acronym": "GRIFFIN", 
        "program": "H2020", 
        "funder": {
          "doi": "10.13039/501100000780", 
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          "name": "European Commission", 
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    "keywords": [
      "Event camera, Surveillance, Aerial robots"
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    "publication_date": "2020-11-04", 
    "creators": [
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        "orcid": "0000-0001-9431-7831", 
        "affiliation": "University of Seville", 
        "name": "J. R. Mart\u00ednez-de Dios"
      }, 
      {
        "orcid": "0000-0002-2285-2605", 
        "affiliation": "University of Seville", 
        "name": "A. Gomez Eguiluz"
      }, 
      {
        "orcid": "0000-0001-7628-1660", 
        "affiliation": "University of Seville", 
        "name": "J. P. Rodr\u00edguez-G\u00f3mez"
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      {
        "orcid": "0000-0002-4435-5466", 
        "affiliation": "University of Seville", 
        "name": "R. Tapia"
      }, 
      {
        "orcid": "0000-0003-2155-2472", 
        "affiliation": "University of Seville", 
        "name": "A. Ollero"
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    "meeting": {
      "acronym": "SSRR", 
      "url": "https://www.ieee-ras.org/conferences-workshops/fully-sponsored/ssrr", 
      "dates": "4-6 November 2020", 
      "place": "Abu Dhabi", 
      "title": "International Symposium on Safety, Security and Rescue Robotics"
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    "description": "<p>Aerial robot perception for surveillance and search and rescue in unstructured and complex environments poses challenging problems in which traditional sensors are severely constrained. This paper analyzes the use of event cameras onboard aerial robots for surveillance applications. Event cameras have high temporal resolution and dynamic range, which make them very robust against motion blur and lighting conditions. The paper analyzes the pros and cons of event cameras and presents an event-based processing scheme for target detection and tracking. The scheme is experimentally validated in challenging environments and different lighting conditions.</p>"
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