U-YOLO: Improved YOLOv5 for Small Object Detection on UAV-Captured Images

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Small object detection on drone-captured images is a recently popular and challenging task. From the drone’s perspective, the object scale varies significantly, and tiny objects lack distinguishable appearance information in complex backgrounds, which leads to undesired effects. To solve the issue mentioned above, we propose U-YOLO based on the original YOLOv5 model. We first extend the multi-scale feature fusion network and add a detection head for tiny objects. Secondly, we integrate the convolutional block attention model (CBAM) in the detection head to focus on the critical region of the feature map. Lastly, an attention feature fusion module based on contextual information is designed to combine local and global contextual details of small objects and attention mechanisms to enhance the multi-scale feature fusion capability. Experiments on dataset VisDrone2021-DET show that U-YOLO not only improves the detection performance on drone-captured scenarios but also has a real-time detection speed. Compared to baseline model (YOLOv5s), the mAP result of U-YOLO is increased from 19.07 to 24.1%, and the detection speed is 39FPS. It provides a good balance between detection accuracy and speed, promoting the progress of small object detection algorithms on UAV platforms.