FPW-YOLO11n: A Lightweight Frequency-Perception Framework for Lunar Impact Crater Detection

Automated detection of lunar impact craters from digital elevation model (DEM) data is important for lunar geological analysis, landing-site selection, and crater catalog updating. However, this task remains challenging because lunar craters exhibit large scale variations, weak or degraded rims, ambiguous boundaries, and complex topographic backgrounds. In addition, large-scale lunar remote sensing applications require detection models to achieve a reasonable balance among accuracy, model complexity, and inference efficiency. To address these challenges, this study proposes FPW-YOLO11n, a frequency-perception crater detection method developed based on YOLO11n. First, a Frequency-Directional Attention Module (FDA-Module) is introduced into the shallow stage of the backbone. This module combines frequency-aware channel attention and direction-aware spatial attention to enhance the representation of crater rim structures, elevation variations, and directional topographic cues in DEM data. Second, a C2PSA-LRSA module is designed by embedding Local Region Self-Attention into the C2PSA framework, thereby improving local contextual feature interaction while reducing the excessive cost associated with global self-attention. Third, Inner-WIoU is adopted to replace the original CIoU loss in YOLO11n. By combining the auxiliary-box mechanism of Inner-IoU with the sample-quality-aware weighting strategy of WIoU, Inner-WIoU provides a more flexible bounding-box regression objective for craters with weak rims, scale variations, and uncertain boundaries. A DEM-based lunar crater dataset was constructed from the Moon LRO LOLA–SELENE Kaguya TC DEM Merge 60N60S 59m product and the Robbins lunar crater catalog, covering the non-polar region from 60° S to 60° N and containing 4760 image tiles. Under the random data-splitting strategy, FPW-YOLO11n achieves 78.3% Precision, 66.2% Recall, 75.1% mAP@0.5, and 50.2% mAP@0.5:0.95, outperforming the YOLO11n baseline by 1.2, 2.0, 1.6, and 4.0 percentage points, respectively. Additional experiments based on geographically disjoint data splitting further show that the proposed method consistently performs better than YOLO11n on DEM data, indicating that the proposed structural improvements remain effective under a more rigorous spatially independent evaluation setting. Although the computational cost increases from 6.3 to 24.0 GFLOPs, FPW-YOLO11n maintains a compact parameter size of 2.59 M and a high inference speed, demonstrating an improved accuracy–efficiency trade-off for lunar crater detection from DEM data.