← 研踪 PaperTrailCVF · CVPR 2026:cvf:0404de2ca951002c19042f280ae6d426 · 记录 #1
UAST: Unified Active Search and Tracking for Arbitrary Targets with UAVs
来源日期（仅到年份） 2026
来源记录日期 2026
雷达观测 2026-11-01 23:30
摘要
Active search and tracking of arbitrary targets by Unmanned Aerial Vehicles (UAVs) in cluttered environments remains a highly challenging problem. Existing methods either construct complex modular pipelines, leading to substantial computational costs, or adopt end-to-end controllers that often fail to generalize across different targets and scenes. Moreover, search and tracking are typically treated separately despite their strong interdependence. In this paper, we present UAST, a simple yet effective mapping-free framework that unifies active search and persistent tracking using only RGB-D observations. The proposed system couples a dual-branch perception module with a Rule-Based Point Search Policy that adaptively switches between tracking and search-based recovery. A lightweight control network generates dynamically feasible trajectories directly from fused perception and UAV states. Furthermore, we introduce a training strategy with an elaborated tracking-aware visibility loss and a tailored data construction. Extensive experiments in both simulated and real-world environments show that our approach achieves higher success rates, more stable long-term tracking, and faster target search compared with existing methods, while maintaining high efficiency. The code is available at https://github.com/qinliangql/UAST.
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记录 #1 · 2026 · 最新观测版本
UAST: Unified Active Search and Tracking for Arbitrary Targets with UAVs
Active search and tracking of arbitrary targets by Unmanned Aerial Vehicles (UAVs) in cluttered environments remains a highly challenging problem. Existing methods either construct complex modular pipelines, leading to substantial computational costs, or adopt end-to-end controllers that often fail to generalize across different targets and scenes. Moreover, search and tracking are typically treated separately despite their strong interdependence. In this paper, we present UAST, a simple yet effective mapping-free framework that unifies active search and persistent tracking using only RGB-D observations. The proposed system couples a dual-branch perception module with a Rule-Based Point Search Policy that adaptively switches between tracking and search-based recovery. A lightweight control network generates dynamically feasible trajectories directly from fused perception and UAV states. Furthermore, we introduce a training strategy with an elaborated tracking-aware visibility loss and a tailored data construction. Extensive experiments in both simulated and real-world environments show that our approach achieves higher success rates, more stable long-term tracking, and faster target search compared with existing methods, while maintaining high efficiency. The code is available at https://github.com/qinliangql/UAST.
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