# UAV-Based Human Body Detector Selection and Fusion for Geolocated Saliency Map Generation

arXiv: https://arxiv.org/abs/2408.16501 · HTML: https://mlsanity.com/paper/2408.16501/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 68 references that are in the map.
- First posted on arXiv 29 Aug 2024.

## Builds on (most cited first, 12 of 12)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Rethinking the Inception Architecture for Computer Vision](https://mlsanity.com/paper/1512.00567/) (2015)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Inception-v4, Inception-ResNet and the Impact of Residual Connections on Learning](https://mlsanity.com/paper/1602.07261/) (2016)
- [R-FCN: Object Detection via Region-based Fully Convolutional Networks](https://mlsanity.com/paper/1605.06409/) (2016)
- [Speed/accuracy trade-offs for modern convolutional object detectors](https://mlsanity.com/paper/1611.10012/) (2016)
- [Localization Recall Precision (LRP): A New Performance Metric for Object Detection](https://mlsanity.com/paper/1807.01696/) (2018)
- [Recent Advances in Object Detection in the Age of Deep Convolutional Neural Networks](https://mlsanity.com/paper/1809.03193/) (2018)
- [Hastily Formed Knowledge Networks and Distributed Situation Awareness for Collaborative Robotics](https://mlsanity.com/paper/2103.14078/) (2021)

## Abstract (arXiv)

The problem of reliably detecting and geolocating objects of different classes in soft real-time is essential in many application areas, such as Search and Rescue performed using Unmanned Aerial Vehicles (UAVs). This research addresses the complementary problems of system contextual vision-based detector selection, allocation, and execution, in addition to the fusion of detection results from teams of UAVs for the purpose of accurately and reliably geolocating objects of interest in a timely manner. In an offline step, an application-independent evaluation of vision-based detectors from a system perspective is first performed. Based on this evaluation, the most appropriate algorithms for online object detection for each platform are selected automatically before a mission, taking into account a number of practical system considerations, such as the available communication links, video compression used, and the available computational resources. The detection results are fused using a method for building maps of salient locations which takes advantage of a novel sensor model for vision-based detections for both positive and negative observations. A number of simulated and real flight experiments are also presented, validating the proposed method.