{"id":"https://openalex.org/W7134962230","doi":"https://doi.org/10.48550/arxiv.2603.09235","title":"HelixTrack: Event-Based Tracking and RPM Estimation of Propeller-like Objects","display_name":"HelixTrack: Event-Based Tracking and RPM Estimation of Propeller-like Objects","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7134962230","doi":"https://doi.org/10.48550/arxiv.2603.09235"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.09235","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09235","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.09235","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128735310","display_name":"Radim Spetlik","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Spetlik, Radim","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098821213","display_name":"Michal Pliska","orcid":"https://orcid.org/0009-0006-7205-0455"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pliska, Michal","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107901362","display_name":"V. Vrba","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vrba, Vojt\u011bch","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128742641","display_name":"Jiri Matas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matas, Jiri","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5128735310"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.20280000567436218,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.20280000567436218,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.1784999966621399,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.15620000660419464,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6262999773025513},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.5853000283241272},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5113000273704529},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.4993000030517578},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4925999939441681},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.47909998893737793},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.4453999996185303},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.44110000133514404},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4050000011920929},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4041000008583069}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7662000060081482},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6790000200271606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6352999806404114},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6262999773025513},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.5853000283241272},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5113000273704529},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.4993000030517578},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4925999939441681},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.47909998893737793},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.4453999996185303},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.44110000133514404},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4050000011920929},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.4032999873161316},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3995000123977661},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.34450000524520874},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3391000032424927},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.3303000032901764},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.32100000977516174},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.30480000376701355},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.29600000381469727},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C3004257","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Correspondence problem","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.251800000667572},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.09235","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09235","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.09235","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09235","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safety-critical":[0],"perception":[1],"for":[2,177],"unmanned":[3],"aerial":[4],"vehicles":[5],"and":[6,18,22,52,108,147,166,173],"rotating":[7,131],"machinery":[8],"requires":[9],"microsecond-latency":[10],"tracking":[11,107],"of":[12,84,111,138],"fast,":[13],"periodic":[14,31],"motion":[15],"under":[16],"egomotion":[17,146],"strong":[19],"distractors.":[20],"Frame-based":[21],"event-based":[23],"trackers":[24],"drift":[25],"or":[26],"break":[27],"on":[28,75],"propellers":[29],"because":[30],"signatures":[32],"violate":[33],"their":[34,54],"smooth-motion":[35],"assumptions.":[36],"We":[37,114],"tackle":[38],"this":[39],"gap":[40],"with":[41,120,124,144],"HelixTrack,":[42],"a":[43,72],"fully":[44],"event-driven":[45],"method":[46],"that":[47],"jointly":[48],"tracks":[49],"propeller-like":[50,112],"objects":[51,132],"estimates":[53,83],"rotations":[55],"per":[56],"minute":[57],"(RPM).":[58],"Incoming":[59],"events":[60,157],"are":[61],"back-warped":[62],"from":[63],"the":[64,68,76,90,117],"image":[65],"plane":[66,70],"into":[67],"rotor":[69],"via":[71],"homography":[73],"estimated":[74],"fly.":[77],"A":[78],"Kalman":[79],"Filter":[80],"maintains":[81],"instantaneous":[82],"phase.":[85],"Batched":[86],"iterative":[87],"updates":[88],"refine":[89],"object":[91],"pose":[92],"by":[93],"coupling":[94],"phase":[95],"residuals":[96],"to":[97],"geometry.":[98],"To":[99],"our":[100],"knowledge,":[101],"no":[102],"public":[103],"dataset":[104,123],"targets":[105],"joint":[106],"RPM":[109,149,178],"estimation":[110],"objects.":[113],"therefore":[115],"introduce":[116],"Timestamped":[118],"Quadcopter":[119],"Egomotion":[121],"(TQE)":[122],"13":[125],"high-resolution":[126],"event":[127],"sequences,":[128],"containing":[129],"52":[130],"in":[133],"total,":[134],"captured":[135],"at":[136],"distances":[137],"2":[139],"m":[140],"/":[141],"4":[142],"m,":[143],"increasing":[145],"microsecond":[148,167],"ground":[150],"truth.":[151],"On":[152],"TQE,":[153],"HelixTrack":[154],"processes":[155],"full-rate":[156],"(approx.":[158],"11.8x":[159],"real":[160,164],"time)":[161],"faster":[162],"than":[163],"time":[165],"latency.":[168],"It":[169],"consistently":[170],"outperforms":[171],"per-event":[172],"aggregation-based":[174],"baselines":[175],"adapted":[176],"estimation.":[179]},"counts_by_year":[],"updated_date":"2026-03-12T06:18:43.230356","created_date":"2026-03-12T00:00:00"}