Edge-Cloud Collaborative UAV Object Detection: Edge-Embedded Lightweight Algorithm Design and Task Offloading Using Fuzzy Neural Network
Yazhou Yuan, Shicong Gao, Ziteng Zhang, Wenye Wang, Zhezhuang Xu, Zhixin Liu · IEEE Transactions on Cloud Computing · 2024
With the rapid development of artificial intelligence and Unmanned Aerial Vehicle (UAV) technology, AI-based UAVs are increasingly utilized in various industrial and civilian applications. This paper presents a distributed Edge-Cloud collaborative framework for UAV object detection, aiming to achieve real-time and accurate detection of ground moving targets. The framework incorporates an Edge-Embedded Lightweight (${{\rm{E}}^{2}}\rm{L}$) object algorithm with an attention mechanism, enabling real-time object detection on edge-side embedded devices while maintaining high accuracy. Additionally, a decision-making mechanism based on fuzzy neural network facilitates adaptive task allocation between the edge-side and cloud-side. Experimental results demonstrate the improved running rate of the proposed algorithm compared to YOLOv4 on the edge-side NVIDIA Jetson Xavier NX, and the superior performance of the distributed Edge-Cloud collaborative framework over traditional edge computing or cloud computing algorithms in terms of speed and accuracy.