{"id":"https://openalex.org/W4399888871","doi":"https://doi.org/10.3390/s24134045","title":"HeMoDU: High-Efficiency Multi-Object Detection Algorithm for Unmanned Aerial Vehicles on Urban Roads","display_name":"HeMoDU: High-Efficiency Multi-Object Detection Algorithm for Unmanned Aerial Vehicles on Urban Roads","publication_year":2024,"publication_date":"2024-06-21","ids":{"openalex":"https://openalex.org/W4399888871","doi":"https://doi.org/10.3390/s24134045","pmid":"https://pubmed.ncbi.nlm.nih.gov/39000823"},"language":"en","primary_location":{"id":"doi:10.3390/s24134045","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24134045","pdf_url":"https://www.mdpi.com/1424-8220/24/13/4045/pdf?version=1718962284","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/13/4045/pdf?version=1718962284","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005365251","display_name":"Hanyi Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hanyi Shi","raw_affiliation_strings":["Army Engineering University of PLA (AEU), Nanjing 210007, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Army Engineering University of PLA (AEU), Nanjing 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104133588","display_name":"Ningzhi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ningzhi Wang","raw_affiliation_strings":["Anhui University (AHU), Hefei 230601, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Anhui University (AHU), Hefei 230601, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102552624","display_name":"Xinyao Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyao Xu","raw_affiliation_strings":["National University of Defense Technology (NUDT), Changsha 410073, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology (NUDT), Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100298506","display_name":"Yue Qian","orcid":"https://orcid.org/0000-0001-5003-2885"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yue Qian","raw_affiliation_strings":["National University of Defense Technology (NUDT), Changsha 410073, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology (NUDT), Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103251142","display_name":"Lingbin Zeng","orcid":"https://orcid.org/0000-0002-4082-4798"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingbin Zeng","raw_affiliation_strings":["National University of Defense Technology (NUDT), Changsha 410073, China"],"raw_orcid":"https://orcid.org/0000-0002-4082-4798","affiliations":[{"raw_affiliation_string":"National University of Defense Technology (NUDT), Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067580654","display_name":"Yihua Zhu","orcid":"https://orcid.org/0000-0003-4258-5409"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Zhu","raw_affiliation_strings":["Army Engineering University of PLA (AEU), Nanjing 210007, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Army Engineering University of PLA (AEU), Nanjing 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5005365251","https://openalex.org/A5100298506"],"corresponding_institution_ids":["https://openalex.org/I170215575","https://openalex.org/I4210163363"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.3904,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.82010124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"24","issue":"13","first_page":"4045","last_page":"4045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9966999888420105,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/object-detection","display_name":"Object detection","score":0.7997714877128601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7045789361000061},{"id":"https://openalex.org/keywords/aerial-image","display_name":"Aerial image","score":0.5864867568016052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5398364067077637},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5372025966644287},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4786466360092163},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4468482732772827},{"id":"https://openalex.org/keywords/aerial-imagery","display_name":"Aerial imagery","score":0.4295107126235962},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4243290424346924},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35930335521698},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.21539440751075745},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.19007909297943115},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0772462785243988}],"concepts":[{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.7997714877128601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7045789361000061},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.5864867568016052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5398364067077637},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5372025966644287},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4786466360092163},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4468482732772827},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.4295107126235962},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4243290424346924},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35930335521698},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.21539440751075745},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.19007909297943115},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0772462785243988},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24134045","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24134045","pdf_url":"https://www.mdpi.com/1424-8220/24/13/4045/pdf?version=1718962284","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:39000823","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39000823","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11244245","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11244245","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11244245/pdf/sensors-24-04045.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:1474735fd0234e23ac9489f940723453","is_oa":false,"landing_page_url":"https://doaj.org/article/1474735fd0234e23ac9489f940723453","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 13, p 4045 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24134045","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24134045","pdf_url":"https://www.mdpi.com/1424-8220/24/13/4045/pdf?version=1718962284","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G644390954","display_name":null,"funder_award_id":"62103441","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4399888871.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W25800576","https://openalex.org/W1603572545","https://openalex.org/W1903029394","https://openalex.org/W2046752030","https://openalex.org/W2053404407","https://openalex.org/W2102605133","https://openalex.org/W2570343428","https://openalex.org/W2944659700","https://openalex.org/W2963037989","https://openalex.org/W2964444661","https://openalex.org/W3003490096","https://openalex.org/W3036271496","https://openalex.org/W3047731328","https://openalex.org/W3107010849","https://openalex.org/W3205100603","https://openalex.org/W4210598935","https://openalex.org/W4293685792","https://openalex.org/W4313894539","https://openalex.org/W4316881870","https://openalex.org/W4381988699","https://openalex.org/W4386076325","https://openalex.org/W4386822461","https://openalex.org/W4389818047","https://openalex.org/W4390754707","https://openalex.org/W4390824621","https://openalex.org/W4391684136","https://openalex.org/W4391844657","https://openalex.org/W4391945775","https://openalex.org/W4392369588","https://openalex.org/W4392380324","https://openalex.org/W4392939809","https://openalex.org/W6636317084","https://openalex.org/W6664149557","https://openalex.org/W6761306150","https://openalex.org/W6860333783"],"related_works":["https://openalex.org/W2949096641","https://openalex.org/W2970686063","https://openalex.org/W4320729701","https://openalex.org/W3034745255","https://openalex.org/W4254103348","https://openalex.org/W2972256598","https://openalex.org/W4388813151","https://openalex.org/W2610408157","https://openalex.org/W4396860960","https://openalex.org/W4283327355"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicle":[2],"(UAV)-based":[3],"object":[4,34,71,96,149],"detection":[5,12,35,86,97,108],"methods":[6],"are":[7],"widely":[8],"used":[9],"in":[10,54,116],"traffic":[11],"due":[13],"to":[14,49,56,103],"their":[15],"high":[16],"flexibility":[17],"and":[18,59,64,68,99,107,129,145],"extensive":[19],"coverage.":[20],"In":[21],"recent":[22],"years,":[23],"with":[24],"the":[25,29,57,83,112,123,138,143],"increasing":[26],"complexity":[27],"of":[28,114,147],"urban":[30,117,125],"road":[31,62,70,118,126],"environment,":[32],"UAV":[33,148],"algorithms":[36],"based":[37],"on":[38],"deep":[39],"learning":[40],"have":[41],"gradually":[42],"become":[43],"a":[44,74,93],"research":[45],"hotspot.":[46],"However,":[47],"how":[48],"further":[50],"improve":[51,104],"algorithmic":[52],"efficiency":[53,106],"response":[55],"numerous":[58],"rapidly":[60],"changing":[61],"elements,":[63],"thus":[65],"achieve":[66],"high-speed":[67],"accurate":[69],"detection,":[72],"remains":[73],"challenging":[75],"issue.":[76],"Given":[77],"this":[78,80,120],"context,":[79],"paper":[81,121],"proposes":[82],"high-efficiency":[84],"multi-object":[85],"algorithm":[87],"for":[88,131],"UAVs":[89],"(HeMoDU).":[90],"HeMoDU":[91,115,139],"reconstructs":[92],"state-of-the-art,":[94],"deep-learning-based":[95],"model":[98,140],"optimizes":[100],"several":[101],"aspects":[102],"computational":[105],"accuracy.":[109],"To":[110],"validate":[111],"performance":[113],"environments,":[119],"uses":[122],"public":[124],"datasets":[127],"VisDrone2019":[128],"UA-DETRAC":[130],"evaluation.":[132],"The":[133],"experimental":[134],"results":[135],"show":[136],"that":[137],"effectively":[141],"improves":[142],"speed":[144],"accuracy":[146],"detection.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
