Synthetic-aperture radar (SAR) ship detection is a fundamental task in maritime remote sensing, supporting wide-area surveillance, traffic monitoring, and emergency response under all-weather imaging conditions. Existing deep detectors mainly rely on spatial cues such as intensity, shape and context, but structured sea clutter and near-shore interference can still produce ship-like responses, while fine scattering details are weakened by deep downsampling. We address two practical representation limitations: incomplete preservation of shallow high-resolution details, and limited explicit modeling of local directional variation. To this end, we propose HMF-RTMDet, a shallow-neck spatial–frequency fusion detector. A P2 high-resolution path combines C2 features with upsampled P3 semantics. HybridMFBlock then processes the fused feature through a morphology branch and a trainable depthwise branch initialized by fractional Gabor templates, followed by channel-wise fusion. In the reported main HRSID run, HMF-RTMDet improves RTMDet-s from 67.9% to 72.6% in AP50:95, from 90.2% to 94.2% in AP50, and from 68.2% to 73.4% in APs. Across three runs, however, its AP50:95 is 72.17 ± 0.38%, comparable to the SFS-Conv and MCU-only controls. The evidence therefore identifies the P2 path as the main gain source but does not establish a stable advantage for HybridMFBlock over these controls. On SSDD, overall AP50:95 remains nearly unchanged and large-target performance decreases, defining an important boundary of the current design.
Unmanned aerial vehicles (UAVs) increasingly require robust visual localization in GNSS-denied environments. A common solution estimates UAV poses by matching keypoints between UAV images and geo-tagged orthographic reference maps derived from satellite or aerial imagery, followed by Perspective-\(n\)-Point (PnP) pose solving. However, such reference maps mainly record top-down surfaces such as roofs and ground planes, while vertical structures such as facades and walls are often compressed or missing. Consequently, many visually distinctive keypoints in low-altitude UAV images have no valid counterparts in the reference map, leading to redundant matches and inaccurate pose estimation. To address this issue, we propose DECO, a DEpth-guided CO-visibility reasoning framework for low-altitude UAV visual localization. DECO uses monocular depth priors to infer local surface geometry and estimate co-visible regions between UAV images and the reference map. Based on this prior, a Geometry-Saliency Coupled Co-visibility Score is introduced to jointly consider geometric co-visibility and detector saliency for keypoint ranking. In this way, DECO retains keypoints that are both visually distinctive and geometrically co-visible, improving feature matching and PnP-based pose estimation. Extensive experiments demonstrate that DECO achieves superior localization performance and can be integrated with different depth models, feature detectors, and matchers. The source code will be available at https://github.com/UAV-AVL/DECO.
Yibin Ye, Xichao Teng, Shuo Chen et al.· 0 citations
