YOLO-IHD: Improved Real-Time Human Detection System for Indoor Drones

Küçükayan G., Karacan H.

SENSORS, cilt.24, sa.3, ss.922-954, 2024 (SCI-Expanded)

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 24 Sayı: 3
  • Basım Tarihi: 2024
  • Doi Numarası: 10.3390/s24030922
  • Dergi Adı: SENSORS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Aqualine, Aquatic Science & Fisheries Abstracts (ASFA), Biotechnology Research Abstracts, CAB Abstracts, Communication Abstracts, Compendex, INSPEC, MEDLINE, Metadex, Veterinary Science Database, Directory of Open Access Journals, Civil Engineering Abstracts
  • Sayfa Sayıları: ss.922-954
  • Gazi Üniversitesi Adresli: Evet

Özet

In the field of unmanned systems, the combination of artificial intelligence with self-operating functionalities is becoming increasingly important. This study introduces a new method for autonomously detecting humans in indoor environments using unmanned aerial vehicles, utilizing the advanced techniques of a deep learning framework commonly known as “You Only Look Once” (YOLO). The key contribution of this research is the development of a new model (YOLO-IHD), specifically designed for human detection in indoor using drones. This model is created using a unique dataset gathered from aerial vehicle footage in various indoor environments. It significantly improves the accuracy of detecting people in these complex environments. The model achieves a notable advancement in autonomous monitoring and search-and-rescue operations, highlighting its importance for tasks that require precise human detection. The improved performance of the new model is due to its optimized convolutional layers and an attention mechanism that process complex visual data from indoor environments. This results in more dependable operation in critical situations like disaster response and indoor rescue missions. Moreover, when combined with an accelerating processing library, the model shows enhanced real-time detection capabilities and operates effectively in a real-world environment with a custom designed indoor drone. This research lays the groundwork for future enhancements designed to significantly increase the model’s accuracy and the reliability of indoor human detection in real-time drone applications.