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Sen. Netw."],"published-print":{"date-parts":[[2025,11,30]]},"abstract":"<jats:p>\n                    Using multiple Unmanned Aerial Vehicles (UAVs) in video surveillance greatly enhances real-time monitoring of large areas. However, images captured by UAVs are separate and limited in view, making stitching crucial for a comprehensive perspective. Current methods combine sensor and visual modalities for video stitching but face challenges in robustness and real-time performance. Environmental disturbances increase errors in sensor and visual data, reducing accuracy and stability, while single-frame stitching incurs high computational costs and slow speeds. To address these issues, we propose\n                    <jats:italic toggle=\"yes\">SkyEye<\/jats:italic>\n                    , a real-time video stitching method for UAV surveillance systems based on multi-modal perception. Specifically, we design a mutual verification method to assess the quality of visual and inertial data. Frames with higher confidence are prioritized for precise stitching. To reduce computational costs, we employ a reference frame scheme that reuses the perspective transformation and feature points of the reference frame for subsequent frames. Meanwhile, we design a video stitching framework based on a per-frame parallel unit to speed up the algorithm execution. We have implemented a prototype of\n                    <jats:italic toggle=\"yes\">SkyEye<\/jats:italic>\n                    and carried out extensive evaluations. Experiment results show that\n                    <jats:italic toggle=\"yes\">SkyEye<\/jats:italic>\n                    outperforms state-of-the-art methods, improving speed by 66.1% and accuracy by 28.2%.\n                  <\/jats:p>","DOI":"10.1145\/3772285","type":"journal-article","created":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T10:19:07Z","timestamp":1760782747000},"page":"1-20","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["SkyEye: Multi-Modal Perception Based Video Stitching for Multi-UAV Surveillance System"],"prefix":"10.1145","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-1856-5670","authenticated-orcid":false,"given":"Kequan","family":"Lin","sequence":"first","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8207-1125","authenticated-orcid":false,"given":"Yanling","family":"Bu","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-6351-6956","authenticated-orcid":false,"given":"Xuehao","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-4488-7859","authenticated-orcid":false,"given":"Chenyu","family":"Ling","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2994-6743","authenticated-orcid":false,"given":"Lei","family":"Xie","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1479-9023","authenticated-orcid":false,"given":"Chuyu","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9497-6244","authenticated-orcid":false,"given":"Yafeng","family":"Yin","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1467-4519","authenticated-orcid":false,"given":"Sanglu","family":"Lu","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Novel Software Technology, Nanjing University","place":["Nanjing, China"]}]}],"member":"320","published-online":{"date-parts":[[2025,11,17]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.5555\/2354409.2354903"},{"key":"e_1_3_1_3_2","doi-asserted-by":"crossref","first-page":"214","DOI":"10.1007\/978-3-642-33783-3_16","volume-title":"Computer Vision\u2013ECCV 2012: 12th European Conference on Computer Vision, Florence, Italy, October 7-13, 2012, Proceedings, Part VI 12","author":"Alcantarilla Pablo Fern\u00e1ndez","year":"2012","unstructured":"Pablo Fern\u00e1ndez Alcantarilla, Adrien Bartoli, and Andrew J. 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