The intrinsic similarity between camouflaged objects and background environment impedes the automatic detection/segmentation of camouflaged objects, and novel network architectures for deep learning are promising to overcome this challenge and improve detection accuracy. However, these existing network architectures for distinguishing between camouflaged objects and their backgrounds do not account for the constraint of detection speed, which results in high computational complexity and the inability to meet the requirements of rapid detection. Therefore, based on the human visual system, this study proposes a single-stage lightweight camouflage object detection network using multilevel feature fusion, integrating features of various feature layers and receptive field sizes. Using three benchmark datasets for normal camouflaged objects, the lightweight network (LINet) model demonstrated an accuracy superior to those of six existing mainstream camouflaged object detection methods. Its detection speed, 126.3 frames per second, is significantly higher than those of the existing mainstream methods, enabling rapid detection with a maximum increase of 187.62%. The accuracy of LINet is the minimum and maximum for Resnet101 and Resnet152, respectively. These findings pave the way for diverse applications of camouflaged target detection algorithms.

With the increasing applications of unmanned aerial vehicles (UAVs) in surveying, mapping, rescue, etc., the security of autonomous flight in complex environments becomes a crucial issue. Deploying autonomous UAVs in complex environments typically requires them to have accurate dynamic obstacle perception, such as the detection of birds and other flying vehicles at high altitudes, as well as humans and ground vehicles at low altitudes or indoors. This work’s primary goal is to cope with both static and moving obstacles in the environment by developing a new framework for UAV planning and control. Firstly, the point clouds acquired from the depth camera are divided into dynamic and static points, and then the velocity of the point cloud clusters is estimated. The static point cloud is used as the input for the local mapping. Path finding is simplified by identifying key points among static points. Secondly, the design of a trajectory tracking and obstacle avoidance controller based on the control barrier function guarantees security for moving and static obstacles. The path-finding module can stably search for the shortest path, and the controller can deal with moving obstacles with high-frequency. Therefore, the UAV can deal with both long-term planning and immediate emergencies. The framework proposed in this work enables a UAV to operate in a wider field, with better security and real-time performance.