{"id":"https://openalex.org/W4226043703","doi":"https://doi.org/10.1109/tim.2022.3165838","title":"CT-Net: An Efficient Network for Low-Altitude Object Detection Based on Convolution and Transformer","display_name":"CT-Net: An Efficient Network for Low-Altitude Object Detection Based on Convolution and Transformer","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4226043703","doi":"https://doi.org/10.1109/tim.2022.3165838"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3165838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3165838","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100419650","display_name":"Tao Ye","orcid":"https://orcid.org/0000-0002-1814-530X"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tao Ye","raw_affiliation_strings":["School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","State Key Laboratory of Coal Mining and Clean Utilization, Beijing, China","Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"State Key Laboratory of Coal Mining and Clean Utilization, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433283","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0003-4037-5600"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","State Key Laboratory of Coal Mining and Clean Utilization, Beijing, China","Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"State Key Laboratory of Coal Mining and Clean Utilization, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014393832","display_name":"Yunwang Li","orcid":"https://orcid.org/0000-0002-3663-8175"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunwang Li","raw_affiliation_strings":["School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430822","display_name":"Xi Zhang","orcid":"https://orcid.org/0000-0002-0760-2843"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Zhang","raw_affiliation_strings":["School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043083428","display_name":"Zongyang Zhao","orcid":"https://orcid.org/0000-0002-0318-3549"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongyang Zhao","raw_affiliation_strings":["School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","State Key Laboratory of Coal Mining and Clean Utilization, Beijing, China","Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"State Key Laboratory of Coal Mining and Clean Utilization, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China","institution_ids":["https://openalex.org/I4210127216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102015592","display_name":"Zezhong Li","orcid":"https://orcid.org/0000-0001-5383-3055"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]},{"id":"https://openalex.org/I4210127216","display_name":"Ministry of Transport","ror":"https://ror.org/031wq1t38","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zezhong Li","raw_affiliation_strings":["School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing, China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing, China","institution_ids":["https://openalex.org/I4210127216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100419650"],"corresponding_institution_ids":["https://openalex.org/I25757504","https://openalex.org/I4210127216"],"apc_list":null,"apc_paid":null,"fwci":4.6867,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.96089826,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7162899374961853},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6022585034370422},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5903149843215942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5491105914115906},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4817228615283966},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.44084417819976807},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4337821304798126},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4206863045692444},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41733407974243164},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4103727340698242},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37019583582878113},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3549541234970093},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.347459077835083},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2543349266052246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7162899374961853},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6022585034370422},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5903149843215942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5491105914115906},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4817228615283966},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.44084417819976807},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4337821304798126},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4206863045692444},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41733407974243164},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4103727340698242},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37019583582878113},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3549541234970093},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.347459077835083},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2543349266052246},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2022.3165838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3165838","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1668351443","display_name":null,"funder_award_id":"52121003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3702775148","display_name":null,"funder_award_id":"2022YQJD04","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6218498208","display_name":null,"funder_award_id":"2022YJSJD01","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1836465849","https://openalex.org/W1889081078","https://openalex.org/W2028880308","https://openalex.org/W2037227137","https://openalex.org/W2102605133","https://openalex.org/W2108598243","https://openalex.org/W2125556102","https://openalex.org/W2151103935","https://openalex.org/W2161969291","https://openalex.org/W2164598857","https://openalex.org/W2295107390","https://openalex.org/W2502312327","https://openalex.org/W2752782242","https://openalex.org/W2786187306","https://openalex.org/W2801173680","https://openalex.org/W2963263347","https://openalex.org/W2963857746","https://openalex.org/W2976792973","https://openalex.org/W2990154685","https://openalex.org/W2991089415","https://openalex.org/W3018757597","https://openalex.org/W3033789093","https://openalex.org/W3034971973","https://openalex.org/W3035414587","https://openalex.org/W3041076719","https://openalex.org/W3092151103","https://openalex.org/W3092462694","https://openalex.org/W3106250896","https://openalex.org/W3131500599","https://openalex.org/W3137088683","https://openalex.org/W3164208409","https://openalex.org/W3176378302","https://openalex.org/W3198894361","https://openalex.org/W3207235916","https://openalex.org/W4293584584","https://openalex.org/W4313007769","https://openalex.org/W6638667902","https://openalex.org/W6639432524","https://openalex.org/W6724804524","https://openalex.org/W6726497184","https://openalex.org/W6750227808","https://openalex.org/W6763509872","https://openalex.org/W6771062828","https://openalex.org/W6777046832","https://openalex.org/W6780226713","https://openalex.org/W6784094891","https://openalex.org/W6795463671","https://openalex.org/W6797360341"],"related_works":["https://openalex.org/W4375867731","https://openalex.org/W4285411112","https://openalex.org/W2085033728","https://openalex.org/W2171299904","https://openalex.org/W2922442631","https://openalex.org/W4315434538","https://openalex.org/W2949096641","https://openalex.org/W2970686063","https://openalex.org/W3034745255","https://openalex.org/W4254103348"],"abstract_inverted_index":{"With":[0],"the":[1,14,41,50,53,57,77,92,95,99,104,116,121,134,152,170,177,185,189,210],"growing":[2],"popularity":[3],"of":[4,94,103,136,155],"civilian":[5],"unmanned":[6],"aerial":[7],"vehicles":[8],"(UAVs),":[9],"unauthorized":[10],"flights":[11],"are":[12],"on":[13,164,180],"rise":[15],"accordingly.":[16],"Therefore,":[17],"it":[18,198],"is":[19,89,112,172,199],"critical":[20],"to":[21,97,114,132,174,201,204,209],"detect":[22],"low-altitude":[23,166,205],"UAVs":[24],"for":[25],"protecting":[26],"personal":[27],"privacy":[28],"and":[29,56,119,169],"public":[30],"safety.":[31],"Though":[32],"substantial":[33],"progress":[34],"has":[35],"been":[36],"made":[37],"in":[38,48],"UAV":[39],"detection,":[40],"existing":[42],"detection":[43,51,58,137,207],"methods":[44],"still":[45],"have":[46],"problems":[47],"balancing":[49],"accuracy,":[52],"model":[54],"size,":[55],"speed.":[59],"To":[60],"address":[61],"these":[62],"limitations,":[63],"this":[64],"article":[65],"proposes":[66],"a":[67,84,107,126,194],"novel":[68],"deep":[69],"learning":[70],"method":[71],"named":[72],"convolution\u2013transformer":[73],"network":[74,96],"(CT-Net).":[75],"First,":[76],"attention-enhanced":[78],"transformer":[79],"block":[80],"(AETB),":[81],"which":[82],"builds":[83],"feature-enhanced":[85],"multihead":[86],"self-attention":[87],"(FEMSA),":[88],"introduced":[90],"into":[91],"backbone":[93],"improve":[98,133],"feature":[100,128],"extraction":[101],"ability":[102],"model.":[105],"Then,":[106],"lightweight":[108],"bottleneck":[109],"module":[110],"(LBM)":[111],"utilized":[113],"control":[115],"computation":[117],"load":[118],"reduce":[120],"parameters.":[122],"Finally,":[123],"we":[124],"present":[125],"directional":[127],"fusion":[129],"structure":[130],"(DFFS)":[131],"accuracy":[135],"when":[138],"processing":[139],"multiscale":[140],"objects,":[141],"especially":[142],"small-size":[143],"objects.":[144],"The":[145],"proposed":[146],"scheme":[147],"achieves":[148],"0.966":[149],"mAP":[150],"with":[151],"input":[153],"size":[154],"640":[156],"<inline-formula":[157],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[158],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[159],"<tex-math":[160],"notation=\"LaTeX\">$\\times640$":[161],"</tex-math></inline-formula>":[162],"pixels":[163],"our":[165],"small-object":[167,206],"dataset,":[168],"performance":[171],"superior":[173],"YOLOv5.":[175],"Furthermore,":[176],"experimental":[178,211],"result":[179],"MS":[181],"COCO":[182],"shows":[183],"that":[184],"CT-Net":[186,203],"can":[187],"outperform":[188],"current":[190],"state-of-the-art":[191],"detectors":[192],"by":[193],"large":[195],"margin.":[196],"Thus,":[197],"feasible":[200],"apply":[202],"according":[208],"results.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
