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Crafting an edge-based real-time object detector for unmanned aerial vehicle (UAV) aerial images is challenging because of the limited computational resources and the small size of detected objects. Existing lightweight object detectors often prioritize speed over detecting extremely small targets. To better balance this trade-off, this paper proposes an efficient and low-complexity object detector for edge computing platforms deployed on UAVs, termed EUAVDet (Edge-based UAV Object Detector). Specifically, an efficient feature downsampling module and a novel multi-kernel aggregation block are first introduced into the backbone network to retain more feature details and capture richer spatial information. Subsequently, an improved feature pyramid network with a faster ghost module is incorporated into the neck network to fuse multi-scale features with fewer parameters. Experimental evaluations on the VisDrone, SeaDronesSeeV2, and UAVDT datasets demonstrate the effectiveness and plug-and-play capability of our proposed modules. Compared with the state-of-the-art YOLOv8 detector, the proposed EUAVDet achieves better performance in nearly all the metrics, including parameters, FLOPs, mAP, and FPS. The smallest version of EUAVDet (EUAVDet-n) contains only 1.34 M parameters and achieves over 20 fps on the Jetson Nano. Our algorithm strikes a better balance between detection accuracy and inference speed, making it suitable for edge-based UAV applications.
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Wanneng Wu
Ao Liu
China University of Geosciences (Beijing)
Jianwen Hu
China University of Petroleum, East China
Drones
Wuhan University
Hunan University
State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing
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Wu et al. (Thu,) studied this question.
synapsesocial.com/papers/68e64d72b6db6435875de2c5 — DOI: https://doi.org/10.3390/drones8060261
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