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Small Object Detection in Drone Aerial Imagery with LAF-YOLOv10

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

General-purpose object detectors lose accuracy on UAV footage, where targets span only a handful of pixels and onboard compute is limited. Prior work composes independently-validated architectural techniques into one detector, assuming gains reported in isolation transfer once combined. We stress-test that assumption directly. LAF-YOLOv10 integrates four techniques into YOLOv10n: a Partial Convolution C2f (PC-C2f) backbone block, an Attention-Guided Feature Pyramid Network (AG-FPN), a P2 detection head replacing the large-object P5 head, and Wise-IoU v3 regression, asking whether their combine

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