The rapid development and wide application of unmanned aerial vehicles (UAVs) have made illegal and unauthorized flights a serious threat to public safety, making timely detection essential. However, existing UAV detection methods still struggle to accurately detect small UAVs because of low feature resolution, background clutter, and dense spatial distribution. Transformer-based detectors, such as Detection Transformer (DETR), have shown promising improvements in detection accuracy; however, they demand significant computation and exhibit high inference latency, limiting deployment on resource-constrained platforms.
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