WildLive: Near Real-time Visual Wildlife Tracking onboard UAVs

Live tracking of wildlife via high-resolution video processing directly onboard drones is widely unexplored and most existing solutions rely on streaming video to ground stations to support navigation. Yet, both autonomous animal-reactive flight control beyond visual line of sight and/or mission-specific individual and behaviour recognition tasks rely to some degree on this capability. In response, we introduce WildLive -- a near real-time animal detection and tracking framework for high-resolution imagery running directly onboard uncrewed aerial vehicles (UAVs). The system performs multi-animal detection and tracking at 17fps+ for HD and 7fps+ on 4K video streams suitable for operation during higher altitude flights to minimise animal disturbance. Our system is optimised for Jetson Orin AGX onboard hardware. It integrates the efficiency of sparse optical flow tracking and mission-specific sampling with device-optimised and proven YOLO-driven object detection and segmentation techniques. Essentially, computational resource is focused onto spatio-temporal regions of high uncertainty to significantly improve UAV processing speeds without domain-specific loss of accuracy. Alongside, we introduce our WildLive dataset, which comprises 200k+ annotated animal instances across 19k+ frames from 4K UAV videos collected at the Ol Pejeta Conservancy in Kenya. All frames contain ground truth bounding boxes, segmentation masks, as well as individual tracklets and tracking point trajectories. We compare our system against current object tracking approaches including OC-SORT, ByteTrack, and SORT. Our materials are available at: https://dat-nguyenvn.github.io/WildLive/