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dronefreak/
uavid-yolo26l-sem

Name: uavid-yolo26l-sem
Rating: 2.5 (49 reviews)

ultralytics

semantic-segmentation

dronefreak/UAVid-2020

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YOLO26l-sem Finetuned on UAVid

Fine-tuned YOLO26l semantic segmentation model for aerial UAV imagery using the UAVid benchmark dataset.

This model is part of the UAVid Semantic Segmentation Model Zoo, a collection of CABiNet and YOLO26 models trained and evaluated under a common pipeline for aerial semantic segmentation.

Performance

Metric	Score
mIoU	63.28
Pixel Accuracy	84.75
Parameters (M)	17.87
FLOPs (GFLOPs @ 1024px)	192.4

UAVid Model Zoo

Rank	Model	mIoU (%)	Pixel Acc (%)	Params (M)	FLOPs (GFLOPs)
1	CABiNet (MobileNetV3-Large)	68.6	87.31	9.17	54.8
2	CABiNet (MobileNetV3-Small)	66.84	86.45	5.36	44.1
3	YOLO26x-sem	64.41	85.82	40.16	430.9
4	YOLO26l-sem	63.28	84.75	17.87	192.4
5	YOLO26m-sem	61.98	84.41	14.32	152.3
6	YOLO26s-sem	61.69	84.27	6.50	44.4
7	YOLO26n-sem	58.17	82.31	1.63	11.4

Per-Class IoU (%)

Class	CABiNet (MobileNetV3-Large)	CABiNet (MobileNetV3-Small)	YOLO26x-sem	YOLO26l-sem	YOLO26m-sem	YOLO26s-sem	YOLO26n-sem
Clutter	69.37	67.96	67.34	65.63	64.63	63.8	61.46
Building	87.77	86.59	87.37	85.9	86.1	85.01	82.29
Road	81.62	80.94	79.82	78.87	78.61	78.14	75.25
Static Car	59.3	55.69	51.33	54.48	44.74	47.39	41.08
Tree	81.23	80.09	78.19	76.68	76.44	76.8	74.06
Vegetation	65.88	64.12	63.3	59.97	60.07	60.25	55.65
Human	30.04	27.32	21.09	19.34	20.41	18.88	15.82
Moving Car	73.62	71.99	66.81	65.38	64.88	63.3	59.73

Evaluation Visualizations

Per-Class IoU Bar Chart

Confusion Matrix

Loss Curves

Dataset

UAVid is a high-resolution UAV semantic segmentation benchmark of urban street scenes, captured from oblique aerial viewpoints along street-side flight paths.

Classes

Clutter
Building
Road
Static Car
Tree
Vegetation
Human
Moving Car

Usage

Install Dependencies

pip install ultralytics huggingface_hub

Load Model from Hugging Face

python

from huggingface_hub import hf_hub_download
from ultralytics import YOLO

weights = hf_hub_download(
    repo_id="dronefreak/uavid-yolo26l-sem",
    filename="best.pt"
)

model = YOLO(weights)

Run Inference

python

results = model.predict(source="image.png", task="semantic", imgsz=1024)
mask = results[0].semantic_mask.cpu().numpy().data  # (H, W) class-ID map

Training Configuration

Setting	Value
Epochs	500
Image size	1024
Batch size	8
Dataset	UAVid (converted images/+masks/ format)
Framework	Ultralytics YOLO
cls_pw (class weighting)	0.5

Official Resources

UAVid Semantic Segmentation Model Zoo: https://huggingface.co/collections/dronefreak/uavid-semantic-segmentation-model-zoo
CABiNet repository: https://github.com/dronefreak/CABiNet
CABiNet Paper: https://arxiv.org/abs/2011.00993v2
Official UAVid Website: https://uavid.nl/
UAVid Dataset Archive: https://doi.org/10.17026/dans-x9f-w9sa
UAVid Paper: https://arxiv.org/abs/1810.10438
UAVid Published Journal: https://doi.org/10.1016/j.isprsjprs.2020.05.009
Ultralytics YOLO: https://github.com/ultralytics/ultralytics
Ultralytics YOLO26 Paper: https://arxiv.org/abs/2606.03748

Training Framework

Trained with the CABiNet repository, which pairs its own real-time segmentation trainer with a parallel Ultralytics YOLO26-sem pipeline — shared dataset tooling, training/eval, and mIoU benchmarking across UAVid, AeroScapes, and VDD. Star the repo if you find these models useful!

Known Limitations

Performance may degrade in:

Very small or thin objects (e.g. pedestrians, moving cars at altitude)
Heavy occlusion under tree canopy
Motion blur on moving vehicles
Mixed/very high input resolutions (UAVid source images are 3840x2160 / 4096x2160; both pipelines evaluate at reduced imgsz)

Citation

Please cite the following:

bibtex

@article{LYU2020108,
    author = "Ye Lyu and George Vosselman and Gui-Song Xia and Alper Yilmaz and Michael Ying Yang",
    title = "UAVid: A semantic segmentation dataset for UAV imagery",
    journal = "ISPRS Journal of Photogrammetry and Remote Sensing",
    volume = "165",
    pages = "108 - 119",
    year = "2020",
    issn = "0924-2716",
    doi = "https://doi.org/10.1016/j.isprsjprs.2020.05.009",
    url = "http://www.sciencedirect.com/science/article/pii/S0924271620301295",
}

@INPROCEEDINGS{9560977,
  author={Kumaar, Saumya and Lyu, Ye and Nex, Francesco and Yang, Michael Ying},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  title={CABiNet: Efficient Context Aggregation Network for Low-Latency Semantic Segmentation},
  year={2021},
  pages={13517-13524},
  doi={10.1109/ICRA48506.2021.9560977}
}

@article{Kumaar_Real-time_Semantic_Segmentation_2021,
  author = {Kumaar, Saumya and Lyu, Ye and Nex, Francesco and Yang, Michael Ying},
  doi = {10.1016/j.isprsjprs.2021.06.006},
  journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
  pages = {124--134},
  title = {{Real-time Semantic Segmentation with Context Aggregation Network}},
  url = {https://www.sciencedirect.com/science/article/pii/S0924271621001647},
  volume = {178},
  year = {2021}
}

@article{jocher2026ultralytics,
  title={Ultralytics YOLO26: Unified Real-Time End-to-End Vision Models},
  author={Jocher, Glenn and Qiu, Jing and Liu, Mengyu and Lyu, Shuai and Akyon, Fatih Cagatay and Kalfaoglu, Muhammet Esat},
  journal={arXiv preprint arXiv:2606.03748},
  year={2026}
}

@software{cabinet_uavid_benchmark,
  author = {Kumaar, Saumya},
  title = {CABiNet: Semantic Segmentation Benchmarking on UAVid (CABiNet vs. YOLO26)},
  url = {https://github.com/dronefreak/CABiNet},
  year = {2026}
}