Drones have been widely utilized in various fields, but the number of drones being used illegally and for hazardous purposes has increased recently. To prevent those illegal drones, in this work, we propose a novel framework for reconstructing 3D trajectories of drones using a single camera. By leveraging calibrated cameras, we exploit the relationship between 2D and 3D spaces. We automatically track the drones in 2D images using the drone tracker and estimate their 2D rotations. By combining the estimated 2D drone positions with their actual length information and camera parameters, we geometrically infer the 3D trajectories of the drones. To address the lack of public drone datasets, we also create synthetic 2D and 3D drone datasets. The experimental results show that the proposed methods accurately reconstruct drone trajectories in 3D space, and demonstrate the potential of our framework for single camera-based surveillance systems.

翻译：无人机已在多个领域得到广泛应用，但近年来非法及危险使用的无人机数量有所增加。为防范这些非法无人机，本文提出了一种新颖的框架，利用单摄像头重建无人机的三维轨迹。通过借助标定相机，我们探索了二维与三维空间之间的关联性。利用无人机跟踪器自动追踪二维图像中的无人机，并估算其二维旋转角度。结合估算的二维无人机位置、实际长度信息及相机参数，通过几何推理获得无人机的三维轨迹。针对无人机公开数据集的缺乏问题，我们还构建了合成二维和三维无人机数据集。实验结果表明，所提方法能精确重建无人机的三维空间轨迹，并展示了该框架在基于单摄像头的监控系统中的潜力。