Lightweight UAV Landing Model Based on Visual Positioning.

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Tác giả: Sang Feng, Junnan Tan, Kaichun Yan, Ning Zhang

Ngôn ngữ: eng

Ký hiệu phân loại: 171.8 Systems based on altruism

Thông tin xuất bản: Switzerland : Sensors (Basel, Switzerland) , 2025

Mô tả vật lý:

Bộ sưu tập: NCBI

ID: 80212

In order to enhance the precision of UAV (unmanned aerial vehicle) landings and realize the convenient and rapid deployment of the model to the mobile terminal, this study proposes a Land-YOLO lightweight UAV-guided landing algorithm based on the YOLOv8 n model. Firstly, GhostConv replaces standard convolutions in the backbone network, leveraging existing feature maps to create additional "ghost" feature maps via low-cost linear transformations, thereby lightening the network structure. Additionally, the CSP structure of the neck network is enhanced by incorporating the PartialConv structure. This integration allows for the transmission of certain channel characteristics through identity mapping, effectively reducing both the number of parameters and the computational load of the model. Finally, the bidirectional feature pyramid network (BiFPN) module is introduced, and the accuracy and average accuracy of the model recognition landing mark are improved through the bidirectional feature fusion and weighted fusion mechanism. The experimental results show that for the landing-sign data sets collected in real and virtual environments, the Land-YOLO algorithm in this paper is 1.4% higher in precision and 0.91% higher in mAP0.5 than the original YOLOv8n baseline, which can meet the detection requirements of landing signs. The model's memory usage and floating-point operations per second (FLOPs) have been reduced by 42.8% and 32.4%, respectively. This makes it more suitable for deployment on the mobile terminal of a UAV.
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