YOLO-LE: A Lightweight and Efficient UAV Aerial Image Target Detection Model

Unmanned aerial vehicle (UAV) imagery poses significant challenges for object detection due to extreme scale variations, high-density small targets (68% in VisDrone dataset), and complex backgrounds. While YOLO-series models achieve speed-accuracy trade-offs via fixed convolution kernels and manual feature fusion, their rigid architectures struggle with multi-scale adaptability, as exemplified by YOLOv8n’s 36.4% mAP and 13.9% small-object AP on VisDrone2019. This paper presents YOLO-LE, a lightweight framework addressing these limitations through three novel designs: (1) We introduce the C2f-Dy and LDown modules to enhance the backbone’s sensitivity to small-object features while reducing backbone parameters, thereby improving model efficiency. (2) An adaptive feature fusion module is designed to dynamically integrate multi-scale feature maps, optimizing the neck structure, reducing neck complexity, and enhancing overall model performance. (3) We replace the original loss function with a distributed focal loss and incorporate a lightweight self-attention mechanism to improve small-object recognition and bounding box regression accuracy. Experimental results demonstrate that YOLO-LE achieves 39.9% mAP@0.5 on VisDrone2019, representing a 9.6% improvement over YOLOv8n, while maintaining 8.5 GFLOPs computational efficiency. This provides an efficient solution for UAV object detection in complex scenarios.