ASUMOT: Motion-Consistency-Based Asynchronous UAV Detection and Tracking with Event cameras

ES-UAV Dataset

Blob to event Asynchronous annotation tool

Blob to event	Frame to event

Asynchronous detection and tracking on FRED and ES-UAV

📂 Structure of ES-UAV

The file structure of the dataset is as follows:

ES-UAV/
├── val
├──────004.CSV
├──────005.CSV
├──────006.CSV
  ...          

📝 Data Format

Example:

x    y   polarity  timestamp   label id
1280 200     1        123        0    0 
128  720    -1        123        1    5

🔗 Dataset Link(Coming soon):

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Citation

@misc{jia2026asumotmotionconsistencybasedasynchronousuav,
      title={ASUMOT: Motion-Consistency-Based Asynchronous UAV Detection and Tracking with Event Cameras}, 
      author={Baofeng Jia and Xiaoyu Chen and Jingyuan Zhang and Zongze Wu and Haochen li and Jing Han and Lianfa Bai},
      year={2026},
      eprint={2607.11303},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2607.11303}, 
}