A Copy-and-Paste Augmentation Framework for Human Detection in Oblique Drone Imagery

초록

Human detection in drone imagery is an important capability for applications that require information on the location and number of people, including search and rescue, urban pedestrian-flow analysis, crowd-density assessment, and public-space safety management. However, in oblique drone imagery, acquiring and annotating sufficient real data remains difficult because of crowd density, privacy constraints, background clutter, and position-dependent scale variation. This study proposes a copy-and-paste-based synthetic data augmentation procedure for imagery acquired using a DJI Phantom 4 RTK under a 30° camera pitch angle and a 30 m flight altitude, following DJI search-and-rescue observation guidelines. The proposed procedure combines human-free drone background images with a public full-body human dataset and incorporates perspective-based geometry-aware scaling, context-aware placement, and density-matched chip selection based on real person-count distributions. Three YOLO-family detectors (YOLOv8x, YOLO11x, and YOLO26x) and the Transformer-based RT-DETR-X were evaluated at three real-data proportions (10%, 25%, and 100%). Across these twelve combinations, four augmentation strategies (random, geometry-, context-, and combined geometry- and context-aware augmentation) were compared under the same 50% synthetic ratio. For the YOLO family, geometry-aware augmentation improved mAP50-95 in eight of the nine combinations and achieved a mean gain of +0.64 percentage points over the real-only baseline, with the largest gain of +1.99 percentage points under the YOLO11x 25% real-data condition. For RT-DETR-X, the corresponding changes were +0.23, −1.83, and −0.15 percentage points at 10%, 25%, and 100% real data, respectively. These results suggest that, under the acquisition conditions evaluated in this study, aligning pasted person size with the image-position-dependent perspective scale can improve the effectiveness of synthetic augmentation when the chip-level person-count distribution is controlled to match that of the real training data. © 2026 by the authors.

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