Study of the Optimal YOLO Visual Detector Model for Enhancing UAV Detection and Classification in Optoelectronic Channels of Sensor Fusion Systems
Kurmashev I. Semenyuk V. Lupidi A. Alyoshin D. Kurmasheva L. Cantelli-Forti A.
November 2025Multidisciplinary Digital Publishing Institute (MDPI)
Drones
2025#9Issue 11
Highlights: What are the main findings? An enhanced model, YOLOv12-ADBC, was developed with an adaptive hierarchical feature integration mechanism, significantly improving multi-scale spatial fusion and inter-class discrimination between UAVs and birds. Experimental evaluation across five YOLO versions (v8–v12) demonstrated that YOLOv12-ADBC achieved the highest precision (0.892), recall (0.864), and real-time detection performance (118–135 FPS) under complex surveillance conditions. What are the implications of the main findings? The proposed YOLOv12-ADBC model shows strong potential as an optical detection module within integrated multi-sensor frameworks for airspace protection. Fusion with radar, RF, and acoustic channels could further enhance detection robustness and enable practical deployment in advanced UAV defense systems. The rapid spread of unmanned aerial vehicles (UAVs) has created new challenges for airspace security, as drones are increasingly used for surveillance, smuggling, and potentially for attacks near critical infrastructure. A key difficulty lies in reliably distinguishing UAVs from visually similar birds in electro-optical surveillance channels, where complex backgrounds and visual noise often increase false alarms. To address this, we investigated recent YOLO architectures and developed an enhanced model named YOLOv12-ADBC, incorporating an adaptive hierarchical feature integration mechanism to strengthen multi-scale spatial fusion. This architectural refinement improves sensitivity to subtle inter-class differences between drones and birds. A dedicated dataset of 7291 images was used to train and evaluate five YOLO versions (v8–v12), together with the proposed YOLOv12-ADBC. Comparative experiments demonstrated that YOLOv12-ADBC achieved the best overall performance, with precision = 0.892, recall = 0.864, mAP50 = 0.881, mAP50–95 = 0.633, and per-class accuracy reaching 96.4% for drones and 80% for birds. In inference tests on three video sequences simulating realistic monitoring conditions, YOLOv12-ADBC consistently outperformed baselines, achieving a detection accuracy of 92.1–95.5% and confidence levels up to 88.6%, while maintaining real-time processing at 118–135 frames per second (FPS). These results demonstrate that YOLOv12-ADBC not only surpasses previous YOLO models but also offers strong potential as the optical module in multi-sensor fusion frameworks. Its integration with radar, RF, and acoustic channels is expected to further enhance system-level robustness, providing a practical pathway toward reliable UAV detection in modern airspace protection systems.
bird , classification , deep learning , detection , drone , neural networks , optical–electronic surveillance channels , sensor fusion , UAVs , YOLO
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Non-Profit Limited Company “Manash Kozybayev North Kazakhstan University”, Petropavlovsk, 150000, Kazakhstan
RaSS (Radar and Surveillance Systems) National Laboratory, Pisa, 56124, Italy
Non-Profit Limited Company “Manash Kozybayev North Kazakhstan University”
RaSS (Radar and Surveillance Systems) National Laboratory
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