LAUSR

Aiming at the problem of a large number of small dense objects in high-altitude shooting and complex background noise interference in the captured scenes, an improved object detection algorithm for YOLOv5 UAV capture scenes is proposed. A Feature Enhancement Block (FEBlock) is first proposed to generate adaptive weights for different receptive field features by convolution, assigning major weights to shallow feature maps to improve small object feature extraction ability. The FEBlock is then integrated into Spatial Pyramid Pooling (SPP) to generate Enhanced Spatial Pyramid Pooling (ESPP), which performs feature enhancement for the result of each maximum pooling; and creates new features containing multi-scale contextual information with better feature characterization capability by weighting fused contextual features. Secondly, the Self-Characteristic Expansion Plate (SCEP) is proposed, which achieves the fusion and expansion of feature information through compression, non-linear mapping, and expansion with its own module, further improving the network’s capacity for feature extraction and generating a new spatial pyramid pooling (ESPP-S) by splicing with ESPP. Finally, a shallower feature map is added as a detection layer to the YOLOv5 network model’s large, medium, and small detection layers to improve the network’s detection performance for medium and long-range objects. Experiments were conducted on the VisDrone2021 dataset, and the results showed that the improved YOLOv5 model improved mAP0.5 by 4.6%, mAP0.5:0.95 by 2.9%, and precision by 2.7%. The mAP0.5 of the model trained at the input resolution of $1024\times1024$ reached 56.8%. The experiments show that the improved YOLOv5 model can improve object detection accuracy for UAV capture scenes.