用旋转事件相机实现移动载体上的实时无人机探测

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 360° 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 2° under challenging conditions, underscoring its suitability for real-world surveillance applications. We will open-source our complete pipeline to support future research.