Heading Estimation on UAV-UGV Alignment dataset System-Level Closed-loop (real-time trials)
0.15Heading Error (MAE)YOLO-ANN pipeline
Evaluation results
| Method | Links | ||
|---|---|---|---|
| YOLO-ANN pipelineHardware=RTX 3060 + Intel Core i7-12700K + 32 GB RAM, Inference Latency=31 ms / frame, Throughput (FPS)=33–35 FPS, Sensor Dependency=Monocular camera only, Model Size=YOLOv5 ~7.2M Parameters (~14MB), Computational Footprint=Lightweight single-class YOLOv5 + small ANN (~17 MB)2025.12 | 0.15 | 95 |