Comparative Analysis of Object Detection Models for Edge Devices in UAV Swarms
Dimitrios Meimetis, Ioannis Daramouskas, Niki Patrinopoulou, Vaios Lappas, Vassilis Kostopoulos
Abstract
This study presented a comprehensive investigation into the performance of object detection models tailored for edge devices, particularly in the context of Unmanned Aerial Vehicle swarms. Object detection plays a pivotal role in enhancing autonomous navigation, situational awareness, and target tracking capabilities within UAV swarms, where computing resources are constrained by the onboard low-cost computers. Initially, a thorough review of the existing literature was conducted to identify state-of-the-art object detection models suitable for deployment on edge devices. These models are evaluated based on their speed, accuracy, and efficiency, with a focus on real-time inference capabilities crucial for Unmanned Aerial Vehicle applications. Following the literature review, selected models undergo empirical validation through custom training using the Vision Meets Drone dataset, a widely recognized dataset for Unmanned Aerial Vehicle-based object detection tasks. Performance metrics such as mean average precision, inference speed, and resource utilization were measured and compared across different models. Lastly, the study extended its analysis beyond traditional object detection to explore the efficacy of instance segmentation and proposed an optimization to an object tracking technique within the context of unmanned Aerial Vehicles. Instance segmentation offers finer-grained object delineation, enabling more precise target or landmark identification and tracking, albeit at higher resource usage and higher inference time.