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Detection and Localization of Drones and UAVs Using Sound and Vision

Tegler, Erik LU ; Modig, Max LU ; Skarin, Per LU orcid ; Astrom, Kalle LU orcid ; Oskarsson, Magnus LU orcid and Flood, Gabrielle LU orcid (2025) 2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2025 In IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops p.6652-6660
Abstract

In this paper, we present a system for drone detection and positioning. The approach uses a system composed of an audio detection rig with a set of microphones, a set of fixed cameras with a large combined field of view and a Pan-TiltZoom camera. We present how this system can be defined in an efficient and modular way with a number of parallel sensing modules. The focus of this work is the audio detection and positioning system. We show that we can use direction-of-arrival methods to efficiently position a drone from its ambient emitted sound only, up to several hundred meters distance. The audio system is tested in a real setting, using several different drones, in a number of real flight experiments, with promising results. The... (More)

In this paper, we present a system for drone detection and positioning. The approach uses a system composed of an audio detection rig with a set of microphones, a set of fixed cameras with a large combined field of view and a Pan-TiltZoom camera. We present how this system can be defined in an efficient and modular way with a number of parallel sensing modules. The focus of this work is the audio detection and positioning system. We show that we can use direction-of-arrival methods to efficiently position a drone from its ambient emitted sound only, up to several hundred meters distance. The audio system is tested in a real setting, using several different drones, in a number of real flight experiments, with promising results. The dataset with the real audio recordings is available online11https://vision.maths.lth.se/drone_sound/. Future work includes how to combine the audio processing with the vision system.

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author
; ; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
direction-of-arrival, drone detection, multimodal sound processing
host publication
Proceedings - 2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2025
series title
IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
pages
9 pages
publisher
IEEE Computer Society
conference name
2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2025
conference location
Nashville, United States
conference dates
2025-06-11 - 2025-06-12
external identifiers
  • scopus:105017857339
ISSN
2160-7516
2160-7508
ISBN
9798331599942
DOI
10.1109/CVPRW67362.2025.00662
language
English
LU publication?
yes
additional info
Publisher Copyright: © 2025 IEEE.
id
a1c40dff-d964-48a4-a3b7-b4fc13f5c28e
date added to LUP
2025-11-07 10:50:08
date last changed
2026-02-17 10:44:24
@inproceedings{a1c40dff-d964-48a4-a3b7-b4fc13f5c28e,
  abstract     = {{<p>In this paper, we present a system for drone detection and positioning. The approach uses a system composed of an audio detection rig with a set of microphones, a set of fixed cameras with a large combined field of view and a Pan-TiltZoom camera. We present how this system can be defined in an efficient and modular way with a number of parallel sensing modules. The focus of this work is the audio detection and positioning system. We show that we can use direction-of-arrival methods to efficiently position a drone from its ambient emitted sound only, up to several hundred meters distance. The audio system is tested in a real setting, using several different drones, in a number of real flight experiments, with promising results. The dataset with the real audio recordings is available online<sup>1</sup><sup>1</sup>https://vision.maths.lth.se/drone_sound/. Future work includes how to combine the audio processing with the vision system.</p>}},
  author       = {{Tegler, Erik and Modig, Max and Skarin, Per and Astrom, Kalle and Oskarsson, Magnus and Flood, Gabrielle}},
  booktitle    = {{Proceedings - 2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2025}},
  isbn         = {{9798331599942}},
  issn         = {{2160-7516}},
  keywords     = {{direction-of-arrival; drone detection; multimodal sound processing}},
  language     = {{eng}},
  pages        = {{6652--6660}},
  publisher    = {{IEEE Computer Society}},
  series       = {{IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops}},
  title        = {{Detection and Localization of Drones and UAVs Using Sound and Vision}},
  url          = {{http://dx.doi.org/10.1109/CVPRW67362.2025.00662}},
  doi          = {{10.1109/CVPRW67362.2025.00662}},
  year         = {{2025}},
}