{"id":"https://openalex.org/W4221064068","doi":"https://doi.org/10.1155/2022/4065734","title":"Target Detection of Low-Altitude UAV Based on Improved YOLOv3 Network","display_name":"Target Detection of Low-Altitude UAV Based on Improved YOLOv3 Network","publication_year":2022,"publication_date":"2022-03-10","ids":{"openalex":"https://openalex.org/W4221064068","doi":"https://doi.org/10.1155/2022/4065734"},"language":"en","primary_location":{"id":"doi:10.1155/2022/4065734","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/4065734","pdf_url":"https://downloads.hindawi.com/journals/jr/2022/4065734.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2022/4065734.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084609333","display_name":"Haiqing Zhai","orcid":"https://orcid.org/0000-0002-5413-0973"},"institutions":[{"id":"https://openalex.org/I4210114043","display_name":"Henan Institute of Technology","ror":"https://ror.org/024f5m737","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210114043"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haiqing Zhai","raw_affiliation_strings":["Big Data Engineering Research Center of Henan for Production and Manufacturing IoTs, Xinxiang, Henan 453003, China","School of Computer Science and Technology, Henan Institute of Technology, Xinxiang, Henan 453003, China"],"raw_orcid":"https://orcid.org/0000-0002-5413-0973","affiliations":[{"raw_affiliation_string":"Big Data Engineering Research Center of Henan for Production and Manufacturing IoTs, Xinxiang, Henan 453003, China","institution_ids":[]},{"raw_affiliation_string":"School of Computer Science and Technology, Henan Institute of Technology, Xinxiang, Henan 453003, China","institution_ids":["https://openalex.org/I4210114043"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077014174","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0002-5462-9336"},"institutions":[{"id":"https://openalex.org/I4210114043","display_name":"Henan Institute of Technology","ror":"https://ror.org/024f5m737","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210114043"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["Big Data Engineering Research Center of Henan for Production and Manufacturing IoTs, Xinxiang, Henan 453003, China","School of Computer Science and Technology, Henan Institute of Technology, Xinxiang, Henan 453003, China"],"raw_orcid":"https://orcid.org/0000-0002-5462-9336","affiliations":[{"raw_affiliation_string":"Big Data Engineering Research Center of Henan for Production and Manufacturing IoTs, Xinxiang, Henan 453003, China","institution_ids":[]},{"raw_affiliation_string":"School of Computer Science and Technology, Henan Institute of Technology, Xinxiang, Henan 453003, China","institution_ids":["https://openalex.org/I4210114043"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5084609333"],"corresponding_institution_ids":["https://openalex.org/I4210114043"],"apc_list":{"value":1100,"currency":"USD","value_usd":1100},"apc_paid":{"value":1100,"currency":"USD","value_usd":1100},"fwci":1.2268,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78653567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2022","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994999766349792,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7639092206954956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6895549297332764},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6332062482833862},{"id":"https://openalex.org/keywords/zoom","display_name":"Zoom","score":0.6052441000938416},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5918589234352112},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5856828093528748},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.581985592842102},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.5543118715286255},{"id":"https://openalex.org/keywords/low-altitude","display_name":"Low altitude","score":0.5077839493751526},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5035180449485779},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4135652780532837},{"id":"https://openalex.org/keywords/altitude","display_name":"Altitude (triangle)","score":0.3842862546443939},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09917619824409485},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08162015676498413}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7639092206954956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6895549297332764},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6332062482833862},{"id":"https://openalex.org/C124913957","wikidata":"https://www.wikidata.org/wiki/Q1232548","display_name":"Zoom","level":3,"score":0.6052441000938416},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5918589234352112},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5856828093528748},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.581985592842102},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.5543118715286255},{"id":"https://openalex.org/C2993172488","wikidata":"https://www.wikidata.org/wiki/Q190200","display_name":"Low altitude","level":3,"score":0.5077839493751526},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5035180449485779},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4135652780532837},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.3842862546443939},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09917619824409485},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08162015676498413},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2022/4065734","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/4065734","pdf_url":"https://downloads.hindawi.com/journals/jr/2022/4065734.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6073aa75e6834fcea8e9995c6c72172a","is_oa":true,"landing_page_url":"https://doaj.org/article/6073aa75e6834fcea8e9995c6c72172a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2022 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2022/4065734","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/4065734","pdf_url":"https://downloads.hindawi.com/journals/jr/2022/4065734.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221064068.pdf","grobid_xml":"https://content.openalex.org/works/W4221064068.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W2895804664","https://openalex.org/W2902847848","https://openalex.org/W2904337973","https://openalex.org/W2907362082","https://openalex.org/W2942836719","https://openalex.org/W2944061406","https://openalex.org/W2953517031","https://openalex.org/W2967268202","https://openalex.org/W2975740120","https://openalex.org/W2980325119","https://openalex.org/W2991429304","https://openalex.org/W2996345600","https://openalex.org/W2998774256","https://openalex.org/W3011213864","https://openalex.org/W3011353937","https://openalex.org/W3025023111","https://openalex.org/W3046187603","https://openalex.org/W3107131887","https://openalex.org/W3126445651","https://openalex.org/W3153464776","https://openalex.org/W3196660192","https://openalex.org/W3196790965"],"related_works":["https://openalex.org/W3101676691","https://openalex.org/W2151313250","https://openalex.org/W1990796262","https://openalex.org/W2133823817","https://openalex.org/W1559077295","https://openalex.org/W2369720214","https://openalex.org/W1996405243","https://openalex.org/W2062672991","https://openalex.org/W2255265159","https://openalex.org/W1976473059"],"abstract_inverted_index":{"Most":[0],"existing":[1],"methods":[2],"are":[3,94,113,120],"difficult":[4],"to":[5,49,77,89],"detect":[6],"low-altitude":[7,12],"and":[8,111,116],"fast-moving":[9],"drones.":[10],"A":[11],"unmanned":[13],"aerial":[14],"vehicle":[15],"(UAV)":[16],"target":[17,75],"detection":[18,52],"method":[19],"based":[20,66],"on":[21,67],"an":[22],"improved":[23],"YOLOv3":[24,39],"network":[25],"is":[26,41,47,64,86,129],"proposed.":[27],"While":[28],"keeping":[29],"the":[30,34,38,51,59,74,78,81,105,126,134],"basic":[31],"framework":[32],"of":[33,54,80,83],"original":[35],"model":[36,40],"unchanged,":[37],"improved.":[42],"That":[43],"is,":[44],"multiscale":[45],"prediction":[46],"added":[48],"enhance":[50],"ability":[53],"small-target":[55],"objects.":[56],"In":[57],"addition,":[58],"two-axis":[60],"Pan/Tilt/Zoom":[61],"(PTZ)":[62],"camera":[63],"controlled":[65],"proportional":[68],"integral":[69],"derivative":[70],"(PID),":[71],"so":[72],"that":[73,104],"tends":[76],"center":[79],"field":[82],"view.":[84],"It":[85],"more":[87],"conducive":[88],"accurate":[90],"detection.":[91],"Finally,":[92],"experiments":[93],"carried":[95],"out":[96],"using":[97],"real":[98],"UAV":[99],"datasets.":[100],"The":[101],"results":[102],"show":[103],"mean":[106],"average":[107],"precision":[108],"(mAP),":[109],"AP50,":[110],"AP75":[112],"25.12%,":[114],"39.75%,":[115],"26.03%,":[117],"respectively,":[118],"which":[119,132],"better":[121],"than":[122],"other":[123],"methods.":[124],"Also,":[125],"frame":[127],"rate":[128],"21":[130],"frames\u00b7s\u22121,":[131],"meets":[133],"performance":[135],"requirements.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}