Detecting small insulator defects in unmanned aerial vehicle (UAV) imagery remains challenging due to low resolution, complex backgrounds and scale variation, which degrade the performance of existing detectors. This study aims to develop a highly efficient and accurate model for real-time insulator defect inspection on resource-constrained UAV platforms. This paper proposes POLD-YOLO, a novel lightweight object detector based on YOLO11. The key innovations include: (1) A backbone enhanced by a PoolingFormer module and Channel-wise Gated Linear Units (CGLUs) to boost feature extraction efficiency; (2) An Omni-Dimensional Adaptive Downsampling (OD-ADown) module for multi-scale feature extraction with low complexity; (3) A Lightweight Shared Convolutional Detection Head (LSCD-Head) to minimize the number of parameters; (4) A Focaler-MPDIoU loss function to improve bounding box regression. Extensive experiments conducted on a self-built UAV insulator defect dataset show that POLD-YOLO achieves a state-of-the-art mAP@0.5 of 92.4%, outperforming YOLOv5n, YOLOv8n, YOLOv10n, and YOLO11n by 3.6%, 1.6%, 1.4%, and 1.6%, respectively. Notably, it attains this superior accuracy with only 1.55 million parameters and 3.8 GFLOPs. POLD-YOLO establishes a new Pareto front for accuracy-efficiency for onboard defect detection. It demonstrates great potential for automated power line inspection and can be extended to other real-time aerial vision tasks.
Hu et al. (2026) studied this question.