# High-Frequency Semantics and Geometric Priors for End-to-End Detection Transformers in Challenging UAV Imagery

arXiv: https://arxiv.org/abs/2507.00825 · HTML: https://mlsanity.com/paper/2507.00825/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 57 references that are in the map.
- First posted on arXiv 1 Jul 2025.

## Builds on (most cited first, 30 of 37)

- [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)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [Path Aggregation Network for Instance Segmentation](https://mlsanity.com/paper/1803.01534/) (2018)
- [DAB-DETR: Dynamic Anchor Boxes are Better Queries for DETR](https://mlsanity.com/paper/2201.12329/) (2022)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [Bridging the Gap Between Anchor-based and Anchor-free Detection via Adaptive Training Sample Selection](https://mlsanity.com/paper/1912.02424/) (2019)
- [DETRs Beat YOLOs on Real-time Object Detection](https://mlsanity.com/paper/2304.08069/) (2023)
- [YOLOv10: Real-Time End-to-End Object Detection](https://mlsanity.com/paper/2405.14458/) (2024)
- [Sparse R-CNN: End-to-End Object Detection with Learnable Proposals](https://mlsanity.com/paper/2011.12450/) (2020)
- [YOLOv9: Learning What You Want to Learn Using Programmable Gradient Information](https://mlsanity.com/paper/2402.13616/) (2024)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [Conditional DETR for Fast Training Convergence](https://mlsanity.com/paper/2108.06152/) (2021)
- [Generalized Focal Loss: Learning Qualified and Distributed Bounding Boxes for Dense Object Detection](https://mlsanity.com/paper/2006.04388/) (2020)
- [CSPNet: A New Backbone that can Enhance Learning Capability of CNN](https://mlsanity.com/paper/1911.11929/) (2019)
- [YOLOv12: Attention-Centric Real-Time Object Detectors](https://mlsanity.com/paper/2502.12524/) (2025)
- [YOLOv6: A Single-Stage Object Detection Framework for Industrial Applications](https://mlsanity.com/paper/2209.02976/) (2022)
- [Detection and Tracking Meet Drones Challenge](https://mlsanity.com/paper/2001.06303/) (2020)
- [TOOD: Task-aligned One-stage Object Detection](https://mlsanity.com/paper/2108.07755/) (2021)
- [Drone-based Object Counting by Spatially Regularized Regional Proposal Network](https://mlsanity.com/paper/1707.05972/) (2017)
- [Clustered Object Detection in Aerial Images](https://mlsanity.com/paper/1904.08008/) (2019)
- [TPH-YOLOv5: Improved YOLOv5 Based on Transformer Prediction Head for Object Detection on Drone-captured Scenarios](https://mlsanity.com/paper/2108.11539/) (2021)
- [D-FINE: Redefine Regression Task in DETRs as Fine-grained Distribution Refinement](https://mlsanity.com/paper/2410.13842/) (2024)
- [QueryDet: Cascaded Sparse Query for Accelerating High-Resolution Small Object Detection](https://mlsanity.com/paper/2103.09136/) (2021)

## Built on by (most cited first, 1 of 1)

- [CLSC DETR: Reliable Candidate Ranking via Cross Layer Geometric Support for UAV Small Object Detection](https://mlsanity.com/paper/2608.21457/) (2026)

## Abstract (arXiv)

Object detection in Unmanned Aerial Vehicle (UAV) imagery is fundamentally challenged by a prevalence of small, densely packed, and occluded objects within cluttered backgrounds. Conventional detectors struggle with this domain, as they rely on hand-crafted components like pre-defined anchors and heuristic-based Non-Maximum Suppression (NMS), creating a well-known performance bottleneck in dense scenes. Even recent end-to-end frameworks have not been purpose-built to overcome these specific aerial challenges, resulting in a persistent performance gap. To bridge this gap, we introduce HEDS-DETR, a holistically enhanced real-time Detection Transformer tailored for aerial scenes. Our framework features three key innovations. First, we propose a novel High-Frequency Enhanced Semantics Network (HFESNet) backbone, which yields highly discriminative features by preserving critical high-frequency details alongside robust semantic context. Second, our Efficient Small Object Pyramid (ESOP) counteracts information loss by efficiently fusing high-resolution features, significantly boosting small object detection. Finally, we enhance decoder stability and localization precision with two synergistic components: Selective Query Recollection (SQR) and Geometry-Aware Positional Encoding (GAPE), which stabilize optimization and provide explicit spatial priors for dense object arrangements. On the VisDrone dataset, HEDS-DETR achieves a +3.8% AP and +5.1% AP50 gain over its baseline while reducing parameters by 4M and maintaining real-time speeds. This demonstrates a highly competitive accuracy-efficiency balance, especially for detecting dense and small objects in aerial scenes.