Spatial–Frequency Response Aware Synergy for Small-Object Detection in UAV Aerial Imagery

Abstract

Low-altitude UAV aerial imagery often has complex backgrounds with densely distributed small objects, posing challenges to accurate small-object detection. To address these problems, we propose a spatial–frequency response aware synergistic network for small-object detection in low-altitude UAV aerial imagery. A Frequency-Response-Aware Enhancement Module (FRAEM) is designed to effectively extract discriminative features. The module employs a deterministic stage-aware filtering strategy: Scharr-based edge-sensitive filtering is used in the shallow stage, whereas Gaussian smoothing is used in deeper stages, enabling complementary enhancement of hierarchical representations. A Detail Feature Fusion module (DFFusion) is then developed to improve the efficiency of multi-scale feature fusion. The existing Content-Aware Reassembly of Features (CARAFE) operator is employed for content-aware upsampling and feature alignment, after which DFFusion uses learnable scalar weighting to integrate high-resolution detail information with low-resolution contextual information. A Lightweight Adaptive Decoupled Head (LADH) is also designed to reduce complexity. LADH asymmetrically allocates computational capacity across the prediction tasks: the confidence branch retains stronger spatial processing, whereas the classification and regression branches use lightweight projections; depthwise separable convolution serves as an efficiency-oriented implementation choice. Experiments on the VisDrone2019 and DOTA-v2.0 datasets demonstrate that the proposed method can achieve balance between detection performance and model complexity over mainstream detection methods. Ablation experiments also prove the effectiveness of the proposed components.