jye9/Multi-Camera-Multi-Vehicle-Tracking-System

Multi-Camera Multi-Vehicle Tracking System (UAV Dataset)

This dataset contains synchronized multi-UAV video footage and comprehensive tracking annotations, accompanying the paper A Topology-Aware Spatiotemporal Handover Framework for Continuous Multi-UAV Tracking.

It is designed for evaluating real-time multi-camera multi-vehicle tracking (MCMT) systems, focusing on solving trajectory fragmentation and maintaining global identity persistence across isolated UAV fields of view.

• Project Page: https://www.jye.me/ICUAS2026/
• GitHub Repository: https://github.com/JYe9/multi-camera-multi-vehicle-tracking-system

Dataset Contents

1. Video Assets

Three synchronized 1-minute video clips captured from different UAV perspectives in complex urban environments.

• uav1_1min.mp4
• uav2_1min.mp4
• uav3_1min.mp4

Example: Consistent global tracking (e.g., the red car with ID 70) across overlapping UAV fields of view.

2. Annotations (CSVs)

The dataset includes structured CSV files with rich metadata generated by our tracking pipeline.

Base Schema:

frame_index, x_min, y_min, x_max, y_max, class_id, confidence, tracker_id, global_id, camera_id, speed, status

Note: Speed is estimated in km/h via pixel-to-meter scaling. Status tracks active/new_entry/exiting states.

Sample Usage

After cloning the GitHub repository and installing the requirements, you can run the pipeline with the following command:

python main.py \
  --source_video_path_uav1 videos/uav1_1min.mp4 \
  --target_video_path_uav1 output_videos/1mins_UAV1_output.mp4 \
  --target_csv_path_uav1 csv/1mins_UAV1.csv \
  --source_video_path_uav2 videos/uav2_1min.mp4 \
  --target_video_path_uav2 output_videos/1mins_UAV2_output.mp4 \
  --target_csv_path_uav2 csv/1mins_UAV2.csv \
  --source_video_path_uav3 videos/uav3_1min.mp4 \
  --target_video_path_uav3 output_videos/1mins_UAV3_output.mp4 \
  --target_csv_path_uav3 csv/1mins_UAV3.csv \
  --model_path models_zoo/3UAVs.pt \
  --confidence_threshold 0.5 \
  --iou_threshold 0.5

Citation

If you find this dataset or our framework useful in your research, please cite our paper:

@misc{ye2026topologyaware,
      title={A Topology-Aware Spatiotemporal Handover Framework for Continuous Multi-UAV Tracking}, 
      author={Jianlin Ye and Christos Kyrkou and Panayiotis Kolios},
      year={2026},
      eprint={2605.15779},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}