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Paper Abstract and Keywords
Presentation 2023-02-22 14:00
Hierarchical Minimum-Sized Object Detection Method using Clustering Algorithm for UAV Autonomous Flight
Yusei Horikawa, Makoto Sugaya, Tetsuya Matsumura (Nihon Univ)
Abstract (in Japanese) (See Japanese page) 
(in English) This paper describes an efficient minimum-sized object detection method in high-Resolution images for UAV autonomous flight. The proposed algorithm features a three-layers structure based on YOLOv5 architecture. Wide area detection extracts comprehensive features from inputted Full-HD images. Local area detection extracts detailed features from minimum-sized object-dense areas detected from the clustering algorithm. Finally, these detection results are integrated. This algorithm basically detects large and small objects and improves the performance of minimum-sized object detection. In evaluations with the VisDrone dataset that is basically consisted of high-resolution images, our algorithm confirms superior to conventional methods in minimum-sized object detection.
Keyword (in Japanese) (See Japanese page) 
(in English) UAV / Autonomous Flight / Object Detection / High-Resolution Image / Deep Learning / CNN / Clustering /  
Reference Info. ITE Tech. Rep., vol. 47, no. 6, ME2023-51, pp. 235-238, Feb. 2023.
Paper # ME2023-51 
Date of Issue 2023-02-14 (MMS, ME, AIT) 
ISSN Print edition: ISSN 1342-6893    Online edition: ISSN 2424-1970
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Conference Information
Conference Date 2023-02-21 - 2023-02-22 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Image Processing, etc. 
Paper Information
Registration To ME 
Conference Code 2023-02-MMS-ME-AIT-IE-ITS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Hierarchical Minimum-Sized Object Detection Method using Clustering Algorithm for UAV Autonomous Flight 
Sub Title (in English)  
Keyword(1) UAV  
Keyword(2) Autonomous Flight  
Keyword(3) Object Detection  
Keyword(4) High-Resolution Image  
Keyword(5) Deep Learning  
Keyword(6) CNN  
Keyword(7) Clustering  
1st Author's Name Yusei Horikawa  
1st Author's Affiliation Nihon University (Nihon Univ)
2nd Author's Name Makoto Sugaya  
2nd Author's Affiliation Nihon University (Nihon Univ)
3rd Author's Name Tetsuya Matsumura  
3rd Author's Affiliation Nihon University (Nihon Univ)
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Speaker Author-1 
Date Time 2023-02-22 14:00:00 
Presentation Time 15 minutes 
Registration for ME 
Paper # MMS2023-31, ME2023-51, AIT2023-31 
Volume (vol) vol.47 
Number (no) no.6 
Page pp.235-238 
Date of Issue 2023-02-14 (MMS, ME, AIT) 

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