{"paper_id":"1bc26f87-92c2-4729-87e8-738c77bed218","body_text":"Use of Unmanned Aerial Vehicle for Autonomous Person Detection and Tracking | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Use of Unmanned Aerial Vehicle for Autonomous Person Detection and Tracking Marcus Vinícius dos Reis Albano, Aline Gabriela Loiola Almeida, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7754842/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 9 You are reading this latest preprint version Abstract Unmanned Aerial Vehicle (UAV) technology has rapidly advanced, enabling the execution of increasingly complex autonomous tasks. This work presents a cognitive surveillance approach utilizing the low-cost UAV, integrating perception and decision-making for indoor monitoring. The system combines communication protocols, ROS-based control, ORB-SLAM3 visual mapping, OctoMap-based occupancy modeling, and OpenCV for real-time face detection and tracking. A lightweight web interface was implemented for operator interaction, enabling autonomous navigation commands, real-time video streaming, and automatic email alerts triggered by detected faces. Experiments in both simulated and real environments demonstrated that the UAV successfully mapped unknown spaces, avoided obstacles, and navigated autonomously without collisions, relying solely on monocular odometry. The face detection and tracking module consistently maintained the target in the field of view, capturing and transmitting images via email. Despite hardware limitations, results highlighted the effectiveness of learning from environmental cues, adapting navigation, and maintaining continuous target tracking. This confirms the feasibility of low-cost UAVs for autonomous cognitive surveillance applications in security-critical scenarios. Unmanned Aerial Vehicles Mapping Autonomous Navigation Cognitive Surveillance Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Revision requested 20 Feb, 2026 Reviews received at journal 11 Feb, 2026 Reviews received at journal 22 Nov, 2025 Reviewers agreed at journal 20 Nov, 2025 Reviewers agreed at journal 08 Oct, 2025 Reviewers invited by journal 07 Oct, 2025 Editor assigned by journal 02 Oct, 2025 Submission checks completed at journal 02 Oct, 2025 First submitted to journal 30 Sep, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {\"props\":{\"pageProps\":{\"initialData\":{\"identity\":\"rs-7754842\",\"acceptedTermsAndConditions\":true,\"allowDirectSubmit\":false,\"archivedVersions\":[],\"articleType\":\"Research Article\",\"associatedPublications\":[],\"authors\":[{\"id\":531314171,\"identity\":\"a9602ea4-1dfc-48f4-9161-903031b1b39c\",\"order_by\":0,\"name\":\"Marcus Vinícius dos Reis Albano\",\"email\":\"\",\"orcid\":\"\",\"institution\":\"Centro Federal de Educação Tecnológica de Minas Gerais (CEFET/MG)\",\"correspondingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Marcus\",\"middleName\":\"Vinícius dos 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