---
license: apache-2.0
tags:
- arxiv:2605.15779
- computer-vision
- object-tracking
- multi-camera
- uav
---

# 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](https://arxiv.org/abs/2605.15779)**.

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.

<p align="center">
  <img src="assets/Pipeline.png" alt="Multi-Camera Multi-Vehicle Tracking Pipeline" width="80%"/>
</p>

## 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`

<p align="center">
  <img src="assets/uav1.jpg" alt="UAV1" width="32%"/>
  <img src="assets/uav2.jpg" alt="UAV2" width="32%"/>
  <img src="assets/uav3.jpg" alt="UAV3" width="32%"/>
<br/>
<em>Example: Consistent global tracking (e.g., the red car with ID 70) across overlapping UAV fields of view.</em>
</p>

### 2. Annotations (CSVs)
The dataset includes structured CSV files with rich metadata generated by our tracking pipeline. 

**Base Schema:**
```text
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.*

## Tracking Pipeline Code

The full production-ready pipeline (utilizing YOLO11, ByteTrack, and our Topology-based Spatiotemporal Handover mechanism) used to process these videos is open-source.

🔗 **[View Source Code on GitHub](https://www.google.com/search?q=https://github.com/JYe9/multi-camera-multi-vehicle-tracking-system)**

## Citation

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

```bibtex
@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}
}

```