Shixiao Wu

(1) Background: Small objects in Unmanned Aerial Vehicle (UAV) images are often scattered throughout various regions of the image, such as the corners, and may be blocked by larger objects, as well as susceptible to image noise. Moreover, due to their small size, these objects occupy a limited area in the image, resulting in a scarcity of effective features for detection. (2) Methods: To address the detection of small objects in UAV imagery, we introduce a novel algorithm called High-Resolution Feature Pyramid Network Mamba-Based YOLO (HRMamba-YOLO). This algorithm leverages the strengths of a High-Resolution Network (HRNet), EfficientVMamba, and YOLOv8, integrating a Double Spatial Pyramid Pooling (Double SPP) module, an Efficient Mamba Module (EMM), and a Fusion Mamba Module (FMM) to enhance feature extraction and capture contextual information. Additionally, a new Multi-Scale Feature Fusion Network, High-Resolution Feature Pyramid Network (HRFPN), and FMM improved feature interactions and enhanced the performance of small object detection. (3) Results: For the VisDroneDET dataset, the proposed algorithm achieved a 4.4% higher Mean Average Precision (mAP) compared to YOLOv8-m. The experimental results showed that HRMamba achieved a mAP of 37.1%, surpassing YOLOv8-m by 3.8% (Dota1.5 dataset). For the UCAS_AOD dataset and the DIOR dataset, our model had a mAP 1.5% and 0.3% higher than the YOLOv8-m model, respectively. To be fair, all the models were trained without a pre-trained model. (4) Conclusions: This study not only highlights the exceptional performance and efficiency of HRMamba-YOLO in small object detection tasks but also provides innovative solutions and valuable insights for future research.

In the process of feature propagation, the low-level convolution layers of the forward feature propagation network lack semantic information, and information loss occurs when fine-grained information is transferred to higher-level convolution; therefore, multi-stage feature fusion networks are needed to solve the interaction between low-level convolution layers and high-level convolution layers. Based on a two-way feature feedback network and feature fusion mechanism, we created a new object detection network called Feature Pyramid Network (FPN)-based Feature Fusion Single Shot Multibox Detector (FFSSD). A bottom-up and top-down architecture with lateral connections enhances the detector’s ability to extract features, then high-level multi-scale semantic feature maps are utilized to generate a feature pyramid network. The results show that the proposed network the mAP for prostate capsule image detection reaches 83.58%, providing real-time detection ability. The context interaction mechanism can transfer high-level semantic information to low-level convolution, and the resulting convolution after low-level and high-level fusion contains richer location and semantic information.