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标题: "JitTrack: Onboard Multi-Object Tracking Against Viewpoint Jitter for Agile UAVs"
原文链接: "https://arxiv.org/abs/2608.10485"
发布日期: "2026-08-11"
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去重键: "https://arxiv.org/abs/2608.10485"
---

## Computer Science > Robotics

## Title:JitTrack: Onboard Multi-Object Tracking Against Viewpoint Jitter for Agile UAVs

Authors:[Yachun Shan](https://arxiv.org/search/cs?searchtype=author&query=Shan,+Y), [Feitian Zhang](https://arxiv.org/search/cs?searchtype=author&query=Zhang,+F)

[View PDF](https://arxiv.org/pdf/2608.10485) [HTML (experimental)](https://arxiv.org/html/2608.10485v1)

> Abstract:Multi-object tracking (MOT) onboard agile unmanned aerial vehicles (UAVs) remains challenging due to severe viewpoint jitter induced by camera ego-motion. Rapid attitude changes during flight often lead to significant target displacement across frames, causing inaccurate target association and degraded tracking performance. Existing UAV MOT methods are primarily evaluated on offline benchmarks and seldom address the practical requirements of real-world onboard deployment, including robustness to camera motion and active target following. To address these challenges, we propose JitTrack, an active onboard multi-object tracking framework that accommodates drone dynamics and camera ego-motion. Built upon a query-based transformer tracker, JitTrack introduces semantic refinement to improve the detection of emerging targets, motion-aware query rectification to compensate for target misalignment caused by viewpoint jitter, and a motion-inspired denoising training strategy that simulates camera motion patterns for robust supervision. Furthermore, we develop a perception-planning-control closed-loop tracking pipeline for real-world deployment, enabling collision-free and physically feasible target following on agile UAVs. Extensive experiments on public UAV MOT benchmarks demonstrate consistent improvements over the baseline method, while real-world flight experiments validate the effectiveness and practicality of JitTrack for robust onboard visual tracking under viewpoint jitter.

| Comments: |  |
| --- | --- |
| Subjects: | Robotics (cs.RO) |
| Cite as: | [arXiv:2608.10485](https://arxiv.org/abs/2608.10485) \[cs.RO\] |
|  | (or [arXiv:2608.10485v1](https://arxiv.org/abs/2608.10485v1) \[cs.RO\] for this version) |
|  | [https://doi.org/10.48550/arXiv.2608.10485](https://doi.org/10.48550/arXiv.2608.10485) |

## Submission history

From: Yachun Shan \[[view email](https://arxiv.org/show-email/83e0275d/2608.10485)\]  
**\[v1\]** Tue, 11 Aug 2026 05:00:31 UTC (5,489 KB)

[Which authors of this paper are endorsers?](https://arxiv.org/auth/show-endorsers/2608.10485) | Disable MathJax ([What is MathJax?](https://info.arxiv.org/help/mathjax.html))
