Vision-based Aerial Tracking on FalconGym F1-tenth 2.0
100Success RateState-based
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| State-basedperception=motion-capture ground-truth target pose2026.06 | 100 | 100 | 0.37 | |
| FalconTrack (w/o physics)physics_aware=false, input=raw perception pose2026.06 | 100 | 100 | 0.57 | |
| FalconTrack (w/ physics)physics_aware=true, refinement=EKF with dynamics priors2026.06 | 100 | 100 | 0.5 | |
| State-basedperception=motion-capture ground-truth target pose2026.06 | 100 | 100 | 0.45 | |
| FalconTrack (w/o physics)physics_aware=false2026.06 | 100 | 95 | 0.92 | |
| FalconTrack (w/ physics)physics_aware=true2026.06 | 100 | 99 | 0.71 | |
| Mask-centered IBVScontroller=PD controller, input=2D bounding box center2026.06 | 80 | 84 | 0.77 | |
| Mask-centered IBVScontroller=PD controller2026.06 | 60 | 68 | 1.23 |