Yuemeng Zhao, Huigang Liu. Detection and Tracking of Low-Altitude Unmanned Aerial Vehicles Based on Optimized YOLOv4 Algorithm[J]. Laser & Optoelectronics Progress, 2022, 59(12): 1215017
- Laser & Optoelectronics Progress
- Vol. 59, Issue 12, 1215017 (2022)
Fig. 1. Schematic diagram of YOLOv4 structure
Fig. 2. Comparsion between Darknet-53 and CSPDarknet-53. (a) Darknet-53; (b) CSPDarknet-53
Fig. 3. Cascade matching process
Fig. 4. K-means clustering analysis result
Fig. 5. Optimized YOLOv4 network structure
Fig. 6. Detection and tracking model based on a combination of optimized YOLOv4 and DeepSORT
Fig. 7. Loss function curve
Fig. 8. Test results. (a) YOLOv4; (b) optimized YOLOv4
Fig. 9. Visual detection effects of small targets. (a) YOLOv3; (b) YOLOv4; (c) optimized YOLOv4
Fig. 10. Visual tracking performance of optimized YOLOv4-DeepSORT method
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Table 1. Value of anchor in LARotorcraft dataset
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Table 2. Performance comparison of different detection algorithms
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