3D Detection of Low-altitude Small Objects by Infrared and LiDAR Data Fusion

GAO Song; WU Wenbo; JIANG Yuzhu; YANG Chao; WANG Weida; LI Ying

doi:10.12382/bgxb.2025.0571

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3D Detection of Low-altitude Small Objects by Infrared and LiDAR Data Fusion

更新时间：2026-05-06

- 3D Detection of Low-altitude Small Objects by Infrared and LiDAR Data Fusion
- Acta Armamentarii Vol. 47, Issue 4, Pages: 250571(2026)
- 作者机构：
  
  北京理工大学重庆创新中心，重庆 401120
  北京理工大学机械与车辆学院，北京 100081
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0571
  CLC： TP391.4
- Received：30 June 2025，
  
  Online First：25 December 2025，
  
  Published：2026-04
- 稿件说明：
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GAO Song, WU Wenbo, JIANG Yuzhu, et al. 3D Detection of Low-altitude Small Objects by Infrared and LiDAR Data Fusion[J]. Acta Armamentarii, 2026, 47(4): 250571.
DOI：

GAO Song, WU Wenbo, JIANG Yuzhu, et al. 3D Detection of Low-altitude Small Objects by Infrared and LiDAR Data Fusion[J]. Acta Armamentarii, 2026, 47(4): 250571. DOI： 10.12382/bgxb.2025.0571.

摘要

针对低空场景下输电线与树枝等细小障碍物使飞行器目标识别与避障所面临的严峻挑战，构建输电线和树木的红外图像数据集，该数据集包含2912张图像和14000个标签。提出一种基于改进YOLOv8的空中目标检测模型，设计多尺度感知特征融合模块以增强对多尺度目标的感知能力，引入自适应阈值焦点损失函数对样本平衡进行优化。基于检测结果融合雷达点云与红外图像，输出目标高精度三维坐标、距离信息及语义类别。基于自采数据集验证，实验结果表明：相比于原始YOLOv8-seg模型，所提目标检测模型的mAP@50-95提升了3.3%，同时检测速度达到170帧/s。将所提模型部署至实验平台进行三维目标距离测试，测距误差小于10cm。上述结果显示，所提模型具有很好的适应性和鲁棒性，可以在飞行器低空环境下有效增强探测和定位复杂背景下细长目标的精确度，识别定位电线和树枝。

Abstract

Low-altitude flight poses significant challenges for unmanned aerial vehicles (UAVs) in detecting and avoiding thin obstacles such as power lines and tree branches. To address this issue

an infrared image dataset comprising power lines and trees

which consists of 2912 images annotated with 14000labels

is constructed

and an improved UAV-based object detection model based on YOLOv8 is proposed. The model incorporates a multi-scale perceptual feature fusion module (SE-EMA) to enhance the capability to detect multi-scale targets. Furthermore

an adaptive threshold focal loss (ATFL) function is introduced to optimize sample balance. Finally

based on the detection results

the radar point cloud and infrared images are fused to output the high-precision three-dimensional coordinates

distance information and semantic categories of target. The proposed model is verified based on our custom dataset. The proposed model achieves a 3.3 percentage point improvement in mAP@50-95 compared to the original YOLOv8-seg model

while maintaining a detection speed of170frames per second (FPS) .When the proposed model is deployed on a test platform for 3D target distance measurement

the ranging error is less than 10 cm. These results demonstrate that the proposed model exhibits favorable adaptability and robustness in detecting and localizing the power lines and tree branches in low-altitude UAV environments. It effectively enhances the detection and localization accuracies of slender targets against complex backgrounds.

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references

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