Anti-UAVs Surveillance System based on Ground Random Fisheye Camera Array

With the rapid development of various types of unmanned aerial vehicles, anti-UAVs surveillance is very urgent. This paper mainly focuses on monitoring various UAVs in unknown and GPS-denied wide areas. We innovatively construct a novel anti-UAVs surveillance system based on ground random fisheye camera array. The paper mainly includes three novel parts: (1) Construct a ground random fisheye camera array anti-UAVs surveillance platform; (2) Propose a fast self-calibration method for arbitrary layout of camera array; and (3) Design a set of multi-target detection, tracking and 3D localization algorithm based on fisheye camera array. Field experiments have been carried out using four UAVs with significant appearance difference, which performs robust in various complex scenes. The experimental results demonstrate that our system can track UAVs without artificial markers, which is sufficient to complement anti-UAVs surveillance task in unknown and GPS-denied wide areas.