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Forward-looking sonar human target detection based on improved YOLO11n
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Jie Zhan1, Bin Hu1, Guanchen Meng2
Fire Science and Technology | 2026, 45(8) : 57 - 63
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Fire Science and Technology | 2026, 45(8): 57-63
• Study of fire equipment •
Forward-looking sonar human target detection based on improved YOLO11n
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Jie Zhan1, Bin Hu1, Guanchen Meng2
Affiliations
  • 1Shanghai Fire Science and Technology Research Institute of MEM , Shanghai 200030 , China
  • 2School of Software, Dalian University of Technology , Dalian Liaoning 116620 , China
Published: 2026-07-15 doi: 10.20168/j.1009-0029.2026.08.0057.07
Outline
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In water emergency rescue tasks, the effective range of optical imaging devices is often severely limited or may even fail due to water turbidity and light attenuation. Therefore, forward-looking sonar (FLS) has become a key sensor for detecting underwater human targets. However, FLS images are affected by severe speckle noise and multipath effects, while annotated human acoustic data are extremely scarce, resulting in high missed-detection rates and poor generalization under small-sample conditions. targeting human body sonar imaging characteristic, a physics-guided human target detection algorithm based on an improved YOLO11n network is proposed for underwater forward-looking sonar images in small-sample scenarios. A Wavelet-based Downsample Block (WDB) is introduced into backbone network to suppress frequency-domain noise and preserve target contours. A Shadow-aware Holistic Acoustic Attention (SHAA) module is designed to jointly model highlight echoes and acoustic shadows, so that sonar imaging priors can be injected into deep features. A Dynamic Acoustic-Context Module (DACM) is further used to capture diverse human target shapes through dual-branch geometric modeling. Experiments on a self-collected underwater human dataset show that mAP50 is improved by up to 35.6% compared with YOLO11n, while the number of parameters is increased by only 3.1%. Missed and false detections are reduced while real-time performance is maintained, providing an effective approach for rapid underwater human target detection in water emergency rescue tasks.

underwater forward-looking sonar  /  object detection  /  sonar image  /  lightweight network  /  water rescue
展杰, 胡斌, 孟冠辰. 基于改进YOLO11n的水下前视声呐人体目标检测算法. 消防科学与技术, 2026 , 45 (8) : 57 -63 . DOI: 10.20168/j.1009-0029.2026.08.0057.07
Jie Zhan, Bin Hu, Guanchen Meng. Forward-looking sonar human target detection based on improved YOLO11n[J]. Fire Science and Technology, 2026 , 45 (8) : 57 -63 . DOI: 10.20168/j.1009-0029.2026.08.0057.07
Year 2026 volume 45 Issue 8
216
99
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Article Info
doi: 10.20168/j.1009-0029.2026.08.0057.07
  • Receive Date:2025-12-10
  • Online Date:2026-09-16
  • Published:2026-07-15
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  • Received:2025-12-10
  • Revised:2026-06-08
Affiliations
    1Shanghai Fire Science and Technology Research Institute of MEM , Shanghai 200030 , China
    2School of Software, Dalian University of Technology , Dalian Liaoning 116620 , China
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表12种不同金属材料的力学参数
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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