{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T16:36:42Z","timestamp":1776443802009,"version":"3.51.2"},"reference-count":66,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:00:00Z","timestamp":1634688000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"University of Malaya Partnership Grant under National Taipei University of Technology \u2013 University of Malaya Joint Research Program","award":["RK007-2020"],"award-info":[{"award-number":["RK007-2020"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Object detection in aerial images has been an active research area thanks to the vast availability of unmanned aerial vehicles (UAVs). Along with the increase of computational power, deep learning algorithms are commonly used for object detection tasks. However, aerial images have large variations, and the object sizes are usually small, rendering lower detection accuracy. Besides, real-time inferencing on low-cost edge devices remains an open-ended question. In this work, we explored the usage of state-of-the-art deep learning object detection on low-cost edge hardware. We propose YOLO-RTUAV, an improved version of YOLOv4-Tiny, as the solution. We benchmarked our proposed models with various state-of-the-art models on the VAID and COWC datasets. Our proposed model can achieve higher mean average precision (mAP) and frames per second (FPS) than other state-of-the-art tiny YOLO models, especially on a low-cost edge device such as the Jetson Nano 2 GB. It was observed that the Jetson Nano 2 GB can achieve up to 12.8 FPS with a model size of only 5.5 MB.<\/jats:p>","DOI":"10.3390\/rs13214196","type":"journal-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T21:31:26Z","timestamp":1634765486000},"page":"4196","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["YOLO-RTUAV: Towards Real-Time Vehicle Detection through Aerial Images with Low-Cost Edge Devices"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8428-093X","authenticated-orcid":false,"given":"Hong Vin","family":"Koay","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9058-3497","authenticated-orcid":false,"given":"Joon Huang","family":"Chuah","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6044-2650","authenticated-orcid":false,"given":"Chee-Onn","family":"Chow","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5834-1057","authenticated-orcid":false,"given":"Yang-Lang","family":"Chang","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National Taipei University of Technology, Taipei 10608, Taiwan"}]},{"given":"Keh Kok","family":"Yong","sequence":"additional","affiliation":[{"name":"MIMOS Berhad, Technology Park Malaysia, Kuala Lumpur 57000, Malaysia"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Scherer, J., Yahyanejad, S., Hayat, S., Yanmaz, E., Andre, T., Khan, A., Vukadinovic, V., Bettstetter, C., Hellwagner, H., and Rinner, B. 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