| Citation: | TANG Y J，MIAO C X，ZHANG H，et al. A low-altitude UAV obstacle detection method based on position constraint and attention mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（3）：933-942 （in Chinese） doi: 10.13700/j.bh.1001-5965.2023.0090
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Unmanned aerial vehicles (UAV) are widely used in low-altitude areas for power inspection, search and rescue, reconnaissance, and other tasks. The detection of obstacles in advance during flight aims to ensure the completion of established tasks. In order to meet the requirements of obstacle detection accuracy and position regression accuracy of UAV flying at low altitudes, a low-altitude UAV obstacle detection method based on improved position constraints and attention mechanism was proposed. The deficiency of position regression loss function was analyzed. On this basis, the loss function of separation scale loss and fusion direction constraint was proposed to optimize the regression process. The improved attention mechanism CBAM proposed a dual attention mechanism to strengthen the feature suppression interference and improve the detection performance. The experimental results show that the proposed method improves by 2.28% on mAP and 2.7% on mAP@0.5:0.95, showing better detection performance of low-altitude obstacles in terms of both detection accuracy and position regression accuracy.
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