mlsanityData to 7 Oct 2026

ODD-SEC: Onboard Drone Detection with a Spinning Event Camera

arXiv 2603.06265 ↗First posted 6 Mar 2026cs.CVcited by 0

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Abstract (arXiv)

The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based systems, offer versatility and energy efficiency under typical conditions but are fundamentally constrained by their operational principles in scenarios involving fast-moving targets or adverse illumination.Inspired by biological vision, event cameras asynchronously detect per-pixel brightness changes, offering high dynamic range and microsecond-level responsiveness that make them uniquely suited for drone detection in conditions beyond the reach of conventional frame-based cameras.However, the design of most existing event-based solutions assumes a static camera, greatly limiting their applicability to moving carriers--such as quadrupedal robots or unmanned ground vehicles--during field operations.In this paper, we introduce a real-time drone detection system designed for deployment on moving carriers. The system utilizes a spinning event-based camera, providing a 360deg horizontal field of view and enabling bearing estimation of detected drones. A key contribution is a novel image-like event representation that operates without motion compensation, coupled with a lightweight neural network architecture for efficient spatiotemporal learning. Implemented on an onboard Jetson Orin NX, the system can operate in real time. Outdoor experimental results validate reliable detection with a mean angular error below 2deg under challenging conditions, underscoring its suitability for real-world surveillance applications. We will open-source our complete pipeline to support future research.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 23 of its 32 references that are in the map. First posted on arXiv 6 Mar 2026.

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23 of 32 references.

References · 23

  1. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,064
  2. 2019Event-based Vision: A Surveycited by 1,010
  3. 2022Recurrent Vision Transformers for Object Detection with Event Camerascited by 158
  4. 2022AEGNN: Asynchronous Event-based Graph Neural Networkscited by 118
  5. 2023Deep Directly-Trained Spiking Neural Networks for Object Detectioncited by 76
  6. 2023GET: Group Event Transformer for Event-Based Visioncited by 73
  7. 2020FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filtercited by 70
  8. 2024Integer-Valued Training and Spike-Driven Inference Spiking Neural Network for High-performance and Energy-efficient Object Detectioncited by 65
  9. 2021Focal and Efficient IOU Loss for Accurate Bounding Box Regressioncited by 57
  10. 2023From Chaos Comes Order: Ordering Event Representations for Object Recognition and Detectioncited by 52
  11. 2023Graph-based Asynchronous Event Processing for Rapid Object Recognitioncited by 51
  12. 2020Event-based Motion Segmentation with Spatio-Temporal Graph Cutscited by 50
11 more
  1. 2023SODFormer: Streaming Object Detection with Transformer Using Events and Framescited by 39
  2. 2024CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximizationcited by 31
  3. 2021EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Followingcited by 17
  4. 2023Asynchronous Blob Tracker for Event Camerascited by 15
  5. 2024Neuromorphic Drone Detection: an Event-RGB Multimodal Approachcited by 14
  6. 2022LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Planecited by 11
  7. 2017Exploring Convolutional Networks for End-to-End Visual Servoingcited by 10
  8. 2024eMoE-Tracker: Environmental MoE-based Transformer for Robust Event-guided Object Trackingcited by 10
  9. 2023EV-Planner: Energy-Efficient Robot Navigation via Event-Based Physics-Guided Neuromorphic Plannercited by 7
  10. 2025EvDetMAV: Generalized MAV Detection from Moving Event Camerascited by 2
  11. 2022Logistics in the Sky: A Two-phase Optimization Approach for the Drone Package Pickup and Delivery Systemcited by 1

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