Supertelephoto Drone Tracking Using HFRvideobased Vibration Source Localization In this paper, we propose a supertelephoto drone surveillance system that can search and track a flying drone at a 1 km distance or more within an area spanning hundreds of square meters. By constructing a mirrordrive highspeed pantilt control system with a supertelephoto camera lens, remote drone surveillance becomes possible owing to the acquisition of high spatial resolution images of target objects. We adopted a vibrationbased drone localization algorithm that can simultaneously detect fastrotating dronepropellers in an highframerate video using a pixellevel shorttime Fourier transform to achieve robust surveillance under various challenging conditions for supertelephoto videoshooting such as low luminance and heat haze. The effectiveness of the supertelephoto drone tracking system is demonstrated by conducting a drone searching and tracking experiment at a 1 km distance using an 800mm focal length lens with a mirrordrive videoshooting system.

Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while filming a moving target usually requires multiple expert human operators; hence the need for an autonomous cinematographer. Current approaches have severe reallife limitations such as requiring fully scripted scenes, highprecision motioncapture systems or GPS tags to localize targets, and prior maps of the environment to avoid obstacles and plan for occlusion.In this work, we overcome such limitations and propose a complete system for aerial cinematography that combines: (1) a visionbased algorithm for target localization; (2) a realtime incremental 3D signeddistance map algorithm for occlusion and safety computation; and (3) a realtime camera motion planner that optimizes smoothness, collisions, occlusions and artistic guidelines. We evaluate robustness and realtime performance in series of field experiments and simulations by tracking dynamic targets moving through unknown, unstructured environments. Finally, we verify that despite removing previous limitations, our system achieves stateoftheart performance.