{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T15:35:14Z","timestamp":1778081714870,"version":"3.51.4"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T00:00:00Z","timestamp":1763942400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T00:00:00Z","timestamp":1763942400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"the Science and Technology Innovation Program from Water Re sources of Guangdong Province","award":["2025-01"],"award-info":[{"award-number":["2025-01"]}]},{"name":"the Science and Technology Innovation Program from Water Re sources of Guangdong Province","award":["2025-01"],"award-info":[{"award-number":["2025-01"]}]},{"name":"the Science and Technology Innovation Program from Water Re sources of Guangdong Province","award":["2025-01"],"award-info":[{"award-number":["2025-01"]}]},{"name":"the Science and Technology Innovation Program from Water Re sources of Guangdong Province","award":["2025-01"],"award-info":[{"award-number":["2025-01"]}]},{"name":"the Science and Technology Innovation Program from Water Re sources of Guangdong Province","award":["2025-01"],"award-info":[{"award-number":["2025-01"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Real-Time Image Proc"],"published-print":{"date-parts":[[2026,2]]},"DOI":"10.1007\/s11554-025-01806-8","type":"journal-article","created":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T19:12:11Z","timestamp":1764011531000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["FDU-YOLO: efficient surface floating debris detection model for UAV perspectives detection"],"prefix":"10.1007","volume":"23","author":[{"given":"Yier","family":"Yan","sequence":"first","affiliation":[]},{"given":"Zhibin","family":"Liang","sequence":"additional","affiliation":[]},{"given":"Jiayu","family":"Li","sequence":"additional","affiliation":[]},{"given":"Tao","family":"Zou","sequence":"additional","affiliation":[]},{"given":"Changhong","family":"Liu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,11,24]]},"reference":[{"issue":"1","key":"1806_CR1","doi-asserted-by":"publisher","first-page":"15611","DOI":"10.1038\/ncomms15611","volume":"8","author":"LC Lebreton","year":"2017","unstructured":"Lebreton, L.C., Van Der Zwet, J., Damsteeg, J.W., Slat, B., Andrady, A., Reisser, J.: River plastic emissions to the world\u2019s oceans. Nat. Commun. 8(1), 15611 (2017)","journal-title":"Nat. Commun."},{"key":"1806_CR2","unstructured":"Paquin, M., Cosgrove, C., et al.: The united nations world water development report 2016: Water and jobs (2016). Published by UNESCO for UN-Water"},{"key":"1806_CR3","doi-asserted-by":"crossref","unstructured":"Schwarzenbach, R.P., Egli, T., Hofstetter, T.B., Gunten, U.V., Wehrli, B.: Global water pollution and human health. Social Science Electronic Publishing 35(1) (2010)","DOI":"10.1146\/annurev-environ-100809-125342"},{"key":"1806_CR4","doi-asserted-by":"crossref","unstructured":"Lieshout, C.V., Oeveren, K.V., Emmerik, T.V., Postma, E.: Automated river plastic monitoring using deep learning and cameras. Earth and Space Science 7(8) (2020)","DOI":"10.1029\/2019EA000960"},{"key":"1806_CR5","doi-asserted-by":"crossref","unstructured":"Qi, S., Song, X., Shang, T., Hu, X., Han, K.: Msfe-yolo: An improved yolov8 network for object detection on drone view. IEEE Geoscience and Remote Sensing Letters 21 (2024)","DOI":"10.1109\/LGRS.2024.3432536"},{"key":"1806_CR6","doi-asserted-by":"publisher","unstructured":"Wang, G., Gu, C., Li, J., Wang, J., Chen, X., Zhang, H.: Heterogeneous flight management system (fms) design for unmanned aerial vehicles (uavs): Current stages, challenges, and opportunities. Drones 7(6) (2023). https:\/\/doi.org\/10.3390\/drones7060380. https:\/\/www.mdpi.com\/2504-446X\/7\/6\/380","DOI":"10.3390\/drones7060380"},{"key":"1806_CR7","doi-asserted-by":"crossref","unstructured":"Girshick, R.: Fast r-cnn. In: Proceedings of the IEEE international conference on computer vision, pp. 1440\u20131448 (2015)","DOI":"10.1109\/ICCV.2015.169"},{"issue":"6","key":"1806_CR8","doi-asserted-by":"publisher","first-page":"1137","DOI":"10.1109\/TPAMI.2016.2577031","volume":"39","author":"S Ren","year":"2017","unstructured":"Ren, S., He, K., Girshick, R., Sun, J.: Faster r-cnn: Towards real-time object detection with region proposal networks. IEEE Transactions on Pattern Analysis & Machine Intelligence 39(6), 1137\u20131149 (2017)","journal-title":"IEEE Transactions on Pattern Analysis & Machine Intelligence"},{"key":"1806_CR9","doi-asserted-by":"crossref","unstructured":"Redmon, J., Divvala, S., Girshick, R., Farhadi, A.: You only look once: Unified, real-time object detection. In: Computer Vision & Pattern Recognition (2016)","DOI":"10.1109\/CVPR.2016.91"},{"key":"1806_CR10","volume-title":"Ssd: Single shot multibox detector","author":"L Wei","year":"2016","unstructured":"Wei, L., Dragomir, A., Dumitru, E., Christian, S., Scott, R., Cheng-Yang, F., Berg, A.C.: Ssd: Single shot multibox detector. Springer, Cham (2016)"},{"issue":"12","key":"1806_CR11","doi-asserted-by":"publisher","first-page":"24330","DOI":"10.1109\/TITS.2022.3203715","volume":"23","author":"J Shen","year":"2022","unstructured":"Shen, J., Zhou, W., Liu, N., Sun, H., Li, D., Zhang, Y.: An anchor-free lightweight deep convolutional network for vehicle detection in aerial images. IEEE Trans. Intell. Transp. Syst. 23(12), 24330\u201324342 (2022)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"1806_CR12","first-page":"1","volume":"71","author":"J Shen","year":"2021","unstructured":"Shen, J., Liu, N., Xu, C., Sun, H., Xiao, Y., Li, D., Zhang, Y.: Finger vein recognition algorithm based on lightweight deep convolutional neural network. IEEE Trans. Instrum. Meas. 71, 1\u201313 (2021)","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"1806_CR13","first-page":"1","volume":"73","author":"J Shen","year":"2024","unstructured":"Shen, J., Liu, N., Sun, H., Li, D., Zhang, Y.: An instrument indication acquisition algorithm based on lightweight deep convolutional neural network and hybrid attention fine-grained features. IEEE Trans. Instrum. Meas. 73, 1\u201316 (2024)","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"1","key":"1806_CR14","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1038\/s40494-025-01565-6","volume":"13","author":"J Shen","year":"2025","unstructured":"Shen, J., Liu, N., Sun, H., Li, D., Zhang, Y., Han, L.: An algorithm based on lightweight semantic features for ancient mural element object detection. npj Heritage Science 13(1), 70 (2025)","journal-title":"npj Heritage Science"},{"key":"1806_CR15","doi-asserted-by":"publisher","unstructured":"Li, Y., Yuan, H., Wang, Y., Xiao, C.: Ggt-yolo: A novel object detection algorithm for drone-based maritime cruising. Drones 6(11) (2022). https:\/\/doi.org\/10.3390\/drones6110335. https:\/\/www.mdpi.com\/2504-446X\/6\/11\/335","DOI":"10.3390\/drones6110335"},{"issue":"9","key":"1806_CR16","doi-asserted-by":"publisher","first-page":"454","DOI":"10.3390\/drones8090454","volume":"8","author":"T Luan","year":"2024","unstructured":"Luan, T., Zhou, S., Liu, L., Pan, W.: Tiny-object detection based on optimized yolo-csq for accurate drone detection in wildfire scenarios. Drones 8(9), 454 (2024)","journal-title":"Drones"},{"key":"1806_CR17","doi-asserted-by":"crossref","unstructured":"Wang, H., Zhang, Y., Zhu, C.: Yolo-lfd: A lightweight and fast model for forest fire detection. Computers, Materials & Continua 82(2) (2025)","DOI":"10.32604\/cmc.2024.058932"},{"key":"1806_CR18","doi-asserted-by":"crossref","unstructured":"Zhou, S., Yang, L., Liu, H., Zhou, C., Liu, J., Wang, Y., Zhao, S., Wang, K.: Improved yolo for long range detection of small drones. Scientific Reports 15(1) (2025)","DOI":"10.1038\/s41598-025-95580-z"},{"key":"1806_CR19","doi-asserted-by":"crossref","unstructured":"Prakash, G., Kasthala, S., Loya, A.: Deep learning for automatic post-disaster debris identification for precise damage assessments using uav footage. Applied Geomatics pp. 1\u201311 (2025)","DOI":"10.1007\/s12518-025-00616-8"},{"key":"1806_CR20","doi-asserted-by":"publisher","DOI":"10.1016\/j.ecoinf.2023.102383","volume":"79","author":"H Lyu","year":"2024","unstructured":"Lyu, H., Qiu, F., An, L., Stow, D., Lewison, R., Bohnett, E.: Deer survey from drone thermal imagery using enhanced faster r-cnn based on resnets and fpn. Eco. Inform. 79, 102383 (2024)","journal-title":"Eco. Inform."},{"key":"1806_CR21","doi-asserted-by":"crossref","unstructured":"Zhang, G., Luo, W., Zhao, Y., Shao, Q., Li, L., Mei, K., Li, G.: Reliable unmanned aerial vehicle-based thermal infrared target detection method for monitoring procapra przewalskii in qinghai. Ecological Informatics p. 103209 (2025)","DOI":"10.1016\/j.ecoinf.2025.103209"},{"issue":"1","key":"1806_CR22","first-page":"18","volume":"16","author":"H Li","year":"2024","unstructured":"Li, H., Yang, S., Zhang, R., Yu, P., Fu, Z., Wang, X., Kadoch, M., Yang, Y.: Detection of floating objects on water surface using yolov5s in an edge computing environment. Water 16(1), 18 (2024)","journal-title":"Water"},{"key":"1806_CR23","doi-asserted-by":"crossref","unstructured":"Bansal, K., Tripathi, A.K., Pandey, A.C.: Efficient floating debris classification using a modified vision transformer and sentinel-2 imagery. Remote Sensing Applications: Society and Environment p. 101610 (2025)","DOI":"10.1016\/j.rsase.2025.101610"},{"key":"1806_CR24","doi-asserted-by":"publisher","unstructured":"Huang, J., Jiang, X., Jin, G.: Detection of river floating debris in uav images based on improved yolov5. In: 2022 International Joint Conference on Neural Networks (IJCNN), pp. 1\u20138 (2022). https:\/\/doi.org\/10.1109\/IJCNN55064.2022.9892392","DOI":"10.1109\/IJCNN55064.2022.9892392"},{"key":"1806_CR25","doi-asserted-by":"crossref","unstructured":"Li, D., Liu, H., Yang, Y., Fan, Z., Wu, B.: Research on small target detection technology for river floating garbage based on improved yolov7. In: Proceedings of the 2023 International Conference on Intelligent Sensing and Industrial Automation, pp. 1\u20139 (2023)","DOI":"10.1145\/3632314.3632349"},{"key":"1806_CR26","doi-asserted-by":"crossref","unstructured":"Du, X., Xie, Z.: Water floating garbage detection algorithm based on improved yolov7-tiny. In: Advances in Machinery, Materials Science and Engineering Application IX, pp. 838\u2013843. IOS Press (2023)","DOI":"10.3233\/ATDE230549"},{"issue":"1","key":"1806_CR27","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s12145-024-01679-8","volume":"18","author":"N Li","year":"2025","unstructured":"Li, N., Wang, M., Huang, H., Li, B., Yuan, B., Xu, S.: Par-yolo: a precise and real-time yolo water surface garbage detection model. Earth Sci. Inf. 18(1), 1\u201314 (2025)","journal-title":"Earth Sci. Inf."},{"key":"1806_CR28","doi-asserted-by":"crossref","unstructured":"Xian, R., Tang, L., Liu, S.: Development of a lightweight floating object detection algorithm. Water (20734441) 16(11) (2024)","DOI":"10.3390\/w16111633"},{"key":"1806_CR29","doi-asserted-by":"crossref","unstructured":"Lu, C.K., Shen, J.Y., Lin, C.H., Lien, C.Y., Yen, D.S.: Efficient embedded system for small object detection: A case study on floating debris in environmental monitoring. IEEE Embedded Systems Letters (2025)","DOI":"10.1109\/LES.2025.3544623"},{"key":"1806_CR30","doi-asserted-by":"crossref","unstructured":"Sandler, M., Howard, A., Zhu, M., Zhmoginov, A., Chen, L.C.: Mobilenetv2: Inverted residuals and linear bottlenecks. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp. 4510\u20134520 (2018)","DOI":"10.1109\/CVPR.2018.00474"},{"key":"1806_CR31","doi-asserted-by":"crossref","unstructured":"Lee, Y., Park, J.: Centermask: Real-time anchor-free instance segmentation. In: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, pp. 13906\u201313915 (2020)","DOI":"10.1109\/CVPR42600.2020.01392"},{"key":"1806_CR32","doi-asserted-by":"crossref","unstructured":"Xu, S., Zheng, S., Xu, W., Xu, R., Wang, C., Zhang, J., Teng, X., Li, A., Guo, L.: Hcf-net: Hierarchical context fusion network for infrared small object detection. In: 2024 IEEE International Conference on Multimedia and Expo (ICME), pp. 1\u20136. IEEE (2024)","DOI":"10.1109\/ICME57554.2024.10687431"},{"key":"1806_CR33","doi-asserted-by":"publisher","unstructured":"Han, W.: Uav data monitoring plastic waste dataset (2021). https:\/\/doi.org\/10.11922\/sciencedb.01121","DOI":"10.11922\/sciencedb.01121"},{"key":"1806_CR34","doi-asserted-by":"publisher","DOI":"10.6084\/m9.figshare.24123666.v2","author":"Z Yang","year":"2023","unstructured":"Yang, Z.: River floating debris dataset (2023). https:\/\/doi.org\/10.6084\/m9.figshare.24123666.v2","journal-title":"River floating debris dataset"},{"key":"1806_CR35","doi-asserted-by":"crossref","unstructured":"Li, D., Yang, T., Jin, Z., Si-Qi, W., Quan-Yi, L.: Yolov8-emsc: A lightweight fire recognition algorithm for large spaces. Journal of Safety Science & Resilience 5(4) (2024)","DOI":"10.1016\/j.jnlssr.2024.06.003"},{"key":"1806_CR36","doi-asserted-by":"crossref","unstructured":"Sun, C., Zhang, Y., Ma, S.: Dflm-yolo: A lightweight yolo model with multiscale feature fusion capabilities for open water aerial imagery. Drones (2504-446X) 8(8) (2024)","DOI":"10.3390\/drones8080400"},{"issue":"1","key":"1806_CR37","doi-asserted-by":"publisher","first-page":"10361","DOI":"10.1038\/s41598-025-87848-1","volume":"15","author":"J Ling","year":"2025","unstructured":"Ling, J., Fu, Z., Yuan, X.: Lightweight coal mine conveyor belt foreign object detection based on improved yolov8n. Sci. Rep. 15(1), 10361 (2025)","journal-title":"Sci. Rep."},{"issue":"8","key":"1806_CR38","doi-asserted-by":"publisher","first-page":"26","DOI":"10.3390\/s24082483","volume":"24","author":"J Zhu","year":"2024","unstructured":"Zhu, J., Hu, T., Zheng, L., Zhou, N., Ge, H., Hong, Z.: Yolov8-c2f-faster-ema: An improved underwater trash detection model based on yolov8. Sensors 24(8), 26 (2024)","journal-title":"Sensors"},{"issue":"1","key":"1806_CR39","doi-asserted-by":"publisher","first-page":"12052","DOI":"10.1038\/s41598-024-62933-z","volume":"14","author":"J Zeng","year":"2024","unstructured":"Zeng, J., Zhong, H.: Yolov8-pd: an improved road damage detection algorithm based on yolov8n model. Sci. Rep. 14(1), 12052 (2024)","journal-title":"Sci. Rep."},{"issue":"20","key":"1806_CR40","doi-asserted-by":"publisher","first-page":"28","DOI":"10.3390\/rs15204974","volume":"15","author":"J Zhang","year":"2023","unstructured":"Zhang, J., Chen, Z., Yan, G., Hu, W.B.: Faster and lightweight: An improved yolov5 object detector for remote sensing images. Remote Sensing 15(20), 28 (2023)","journal-title":"Remote Sensing"},{"issue":"18","key":"1806_CR41","doi-asserted-by":"publisher","first-page":"5945","DOI":"10.3390\/s24185945","volume":"24","author":"X Li","year":"2024","unstructured":"Li, X., Li, G., Zhang, Z., Sun, H.: Research on improved algorithms for cone bucket detection in formula unmanned competition. Sensors 24(18), 5945 (2024)","journal-title":"Sensors"},{"key":"1806_CR42","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2025.110306","volume":"235","author":"Z Lu","year":"2025","unstructured":"Lu, Z., Chengao, Z., Lu, L., Yan, Y., Jun, W., Wei, X., Ke, X., Jun, T.: Star-yolo: A lightweight and efficient model for weed detection in cotton fields using advanced yolov8 improvements. Comput. Electron. Agric. 235, 110306 (2025)","journal-title":"Comput. Electron. Agric."},{"key":"1806_CR43","doi-asserted-by":"crossref","unstructured":"Tan, M., Pang, R., Le, Q.V.: Efficientdet: Scalable and efficient object detection. In: 2020 IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2020)","DOI":"10.1109\/CVPR42600.2020.01079"},{"key":"1806_CR44","doi-asserted-by":"publisher","DOI":"10.1016\/j.compbiomed.2024.107917","volume":"170","author":"Y Chen","year":"2024","unstructured":"Chen, Y., Zhang, C., Chen, B., Huang, Y., Sun, Y., Wang, C., Fu, X., Dai, Y., Qin, F., Peng, Y., et al.: Accurate leukocyte detection based on deformable-detr and multi-level feature fusion for aiding diagnosis of blood diseases. Comput. Biol. Med. 170, 107917 (2024)","journal-title":"Comput. Biol. Med."},{"key":"1806_CR45","doi-asserted-by":"crossref","unstructured":"Li, H., Li, J., Wei, H., Liu, Z., Zhan, Z., Ren, Q.: Slim-neck by gsconv: a lightweight-design for real-time detector architectures. Journal of Real-Time Image Processing 21(3) (2024)","DOI":"10.1007\/s11554-024-01436-6"},{"issue":"9","key":"1806_CR46","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1080\/2150704X.2024.2388853","volume":"15","author":"T Ma","year":"2024","unstructured":"Ma, T., Yin, H.: Mafpn: a mixed local-global attention feature pyramid network for aerial object detection. Remote Sensing Letters 15(9), 13 (2024)","journal-title":"Remote Sensing Letters"},{"key":"1806_CR47","doi-asserted-by":"publisher","unstructured":"Jocher, G.: Ultralytics yolov5 (2020). https:\/\/doi.org\/10.5281\/zenodo.3908559. https:\/\/github.com\/ultralytics\/yolov5","DOI":"10.5281\/zenodo.3908559"},{"key":"1806_CR48","unstructured":"Jocher, G., Chaurasia, A., Qiu, J.: Ultralytics yolov8 (2023). https:\/\/github.com\/ultralytics\/ultralytics"},{"key":"1806_CR49","doi-asserted-by":"crossref","unstructured":"Wang, C.Y., Yeh, I.H., Liao, H.Y.M.: Yolov9: Learning what you want to learn using programmable gradient information (2024). https:\/\/arxiv.org\/abs\/2402.13616","DOI":"10.1007\/978-3-031-72751-1_1"},{"key":"1806_CR50","first-page":"107984","volume":"37","author":"A Wang","year":"2024","unstructured":"Wang, A., Chen, H., Liu, L., Chen, K., Lin, Z., Han, J., et al.: Yolov10: Real-time end-to-end object detection. Adv. Neural. Inf. Process. Syst. 37, 107984\u2013108011 (2024)","journal-title":"Adv. Neural. Inf. Process. Syst."},{"key":"1806_CR51","unstructured":"Jocher, G., Qiu, J.: Ultralytics yolo11 (2024). https:\/\/github.com\/ultralytics\/ultralytics"},{"key":"1806_CR52","unstructured":"Tian, Y., Ye, Q., Doermann, D.: Yolov12: Attention-centric real-time object detectors (2025). https:\/\/arxiv.org\/abs\/2502.12524"}],"container-title":["Journal of Real-Time Image Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11554-025-01806-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11554-025-01806-8","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11554-025-01806-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T16:48:39Z","timestamp":1770396519000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11554-025-01806-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,24]]},"references-count":52,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,2]]}},"alternative-id":["1806"],"URL":"https:\/\/doi.org\/10.1007\/s11554-025-01806-8","relation":{},"ISSN":["1861-8200","1861-8219"],"issn-type":[{"value":"1861-8200","type":"print"},{"value":"1861-8219","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,24]]},"assertion":[{"value":"10 September 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 November 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 November 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"17"}}