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基于无人机双模态图像的森林火点检测方法

Detecting forest fire spots using UAV dual-modal images

  • 摘要: 森林火灾蔓延迅速,威胁森林生态系统、周边社区及应急处置资源。无人机可为大范围和交通不便林区提供灵活观测,但浓烟会削弱可见光纹理,非火点高温目标易干扰红外图像,因而火点检测仍面临挑战。为此,提出基于YOLOv11n的可见光—红外双模态检测算法(dual-modal fusion focus YOLO,DFF-YOLO)。该算法采用双分支主干网络保留温度与纹理互补信息;在各模态分支内设置通道先验卷积注意力(channel prior convolutional attention,CPCA)模块,通过多尺度深度可分离卷积和通道—空间注意力完成特征净化与增强;在高层语义阶段由交叉转换器融合(cross transformer fusion,CTF)模块通过双向注意力进行跨模态对齐,再经全局注意力机制(global attention mechanism,GAM)强化目标相关响应,并由动态自适应可变形检测头(dynamic adaptive deformable head,DAD-Head)改善小尺度、弱响应和不规则火点的定位。在公开FLAME2-DT、FLAME3和FireMan-UAV-RGBT数据集整合形成的MFire-Bench上开展试验;对具有官方划分的数据集沿用其划分,对FLAME3按序列块划分并设置缓冲间隔,以降低相邻帧泄漏风险。采用精确率、召回率、mAP@0.5和mAP@0.5-0.95评价模型,并在相同数据划分下与单模态、像素级融合及双分支基线模型进行比较。消融试验以同一双分支基线为基础,依次加入CPCA、CTF、GAM和DAD-Head,以区分双模态结构的基础增益与后续模块的增益。结果表明,DFF-YOLO的精确率、召回率、mAP@0.5和mAP@0.5-0.95分别为81.3%、76.6%、81.9%和51.8%;较红外单模态YOLOv11n的mAP@0.5提高8.7个百分点,较双分支基线DBB-YOLOv11n提高6.6个百分点。结果表明,所提方法在当前公开数据集与评价协议下具有较好的森林火点检测效果。后续将围绕统一硬件条件下的效率评估、真实野火场景验证,以及融合GPS/IMU的火点定位开展研究。

     

    Abstract: Forest fires can spread rapidly to threaten forest ecosystems, nearby communities, and emergency-response resources. Unmanned aerial vehicles (UAVs) can offer flexible observation for large and inaccessible forest areas; However, fire-spot detection is still challenging, particularly when thick smoke weakens the clarity of visible textures and non-fire hot objects interfere with infrared images. In this study, the dual-modal fusion focus YOLO (DFF-YOLO) framework was proposed to detect smoke-interfered fire spots from visible-light and infrared images, based on the YOLOv11n baseline. Two parallel backbone branches were used to preserve complementary temperature and texture information. Channel prior convolutional attention (CPCA) was placed inside each branch to purify and enhance modality-specific features. Multi-scale depthwise separable convolution and channel-spatial attention were integrated beyond direct fusion. Cross-modal interaction was performed by the Cross Transformer Fusion module at the high-level semantic stage, where bidirectional attention aligned infrared thermal responses with visible structural cues. Global Attention Mechanism then emphasized target channel and spatial responses. Dynamic adaptive deformable head improved the localization of small, weak, and irregular fire spots. Experiments were conducted on MFire-Bench, a paired visible-infrared benchmark from the public FLAME2-DT, FLAME3, and FireMan-UAV-RGBT datasets. Among them, the dataset also included smoke, low contrast, complex vegetation, and pseudo-high temperature. The available official partitions were retained where provided. In FLAME3, sequence blocks and buffer intervals were used to reduce leakage from adjacent frames. Since the archived data lacked complete, verifiable fire-event or flight identifiers, this partition was interpreted to minimize leakage between adjacent frames, rather than a fully event-independent evaluation. The evaluation provided the precision, recall, mAP@0.5, and mAP@0.5-0.95. A comparison was made between DFF-YOLO and the single-modal and dual-branch baselines under the benchmark protocol. An ablation test was conducted to add CPCA, CTF, GAM, and DAD-Head to the same dual-branch baseline. Paired sensors were then distinguished by the contribution rates of the feature purification, cross-modal alignment, target enhancement, and deformable localization components. The models were trained with the data partition without direct numerical superiority, compared with the different datasets or evaluation protocols. Therefore, the gains were read within the specified benchmark, rather than as a universal estimate of field-deployment performance. DFF-YOLO achieved a precision of 81.3%, a recall of 76.6%, an mAP@0.5 of 81.9%, and an mAP@0.5-0.95 of 51.8%. Compared with the infrared single-modal YOLOv11n and dual-branch DBB-YOLOv11n baselines, the mAP@0.5 increased by 8.7 and 6.6 percentage points, respectively. Ablation tests showed that the dual-branch structure provided the multimodal gain, while CPCA, CTF, GAM, and DAD-Head yielded additional gains in the progressive combination. DFF-YOLO was intended as a candidate for information for fire-scene awareness at the image level, rather than fire warning. Given the task-specific public data, the embedded-platform latency and energy measurements, and GPS/IMU-assisted geolocation, the efficiency can be evaluated on unified hardware using external wildfire data and environmental information. Image detection can be expected for geographic localization and decision-making in future work.

     

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