UAV-YOLO12: A Multi-Scale Road Segmentation Model for UAV Remote Sensing Imagery

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Abstract
Unmanned aerial vehicles (UAVs) are increasingly used for road infrastructure inspection and monitoring. However, challenges such as scale variation, complex background interference, and the scarcity of annotated UAV datasets limit the performance of traditional segmentation models. To address these challenges, this study proposes UAV-YOLOv12, a multi-scale segmentation model specifically designed for UAV-based road imagery analysis. The proposed model builds on the YOLOv12 architecture by adding two key modules. It uses a Selective Kernel Network (SKNet) to adjust receptive fields dynamically and a Partial Convolution (PConv) module to improve spatial focus and robustness in occluded regions. These enhancements help the model better detect small and irregular road features in complex aerial scenes. Experimental results on a custom UAV dataset collected from national highways in Wuxi, China, show that UAV-YOLOv12 achieves F1-scores of 0.902 for highways (road-H) and 0.825 for paths (road-P), outperforming the original YOLOv12 by 5% and 3.2%, respectively. Inference speed is maintained at 11.1 ms per image, supporting near real-time performance. Moreover, comparative evaluations with U-Net show that UAV-YOLOv12 improves by 7.1% and 9.5%. The model also exhibits strong generalization ability, achieving F1-scores above 0.87 on public datasets such as VHR-10 and the Drone Vehicle dataset. These results demonstrate that the proposed UAV-YOLOv12 can achieve high accuracy and robustness in diverse road environments and object scales.

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