Fig. 4

The sample images from synthetic scenes, low-altitude real scenes, and high-altitude real scenes. Synthetic scenes often lack the lighting variations and details present in real scenes, which can result in poorer detection performance when models trained on synthetic scenes are applied to real scenes. Compared to low-altitude perspectives, high-altitude perspectives can detect more objects and enable UAVs to scan a larger area. Additionally, flying at higher altitudes allows UAVs to access areas with tall buildings, making high-altitude datasets advantageous for practical tasks. These advantages highlight the importance of high-altitude datasets in expanding the application of UAVs in real-world scenarios.