PENet: Object Detection Using Points Estimation in High Definition Aerial Images

Abstract

Aerial imagery has been increasingly adopted in mission-critical tasks, such as traffic surveillance, smart cities, and disaster assistance. However, identifying objects from aerial images faces the following challenges: 1) objects of interests are often too small and too dense relative to the images; 2) objects of interests are often in different relative sizes; and 3) the number of objects in each category is imbalanced. A novel network structure, Points Estimated Network (PENet), is proposed in this work to answer these challenges. PENet uses a Mask Resampling Module (MRM) to augment the imbalanced datasets, a coarse anchor-free detector (CPEN) to effectively predict the center points of the small object clusters, and a fine anchor-free detector FPEN to locate the precise positions of the small objects. An adaptive merge algorithm Non-maximum Merge (NMM) is implemented in CPEN to address the issue of detecting dense small objects, and a hierarchical loss is defined in FPEN to further improve the classification accuracy. Our extensive experiments on aerial datasets visDrone [1] and UAVDT [2] showed that PENet achieved higher precision results than existing state-of-the-art approaches. Our best model achieved 8.7% improvement on visDrone and 20.3% on UAVDT.