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We propose a deep learning-based method for object detection in UAV-borne thermal images that have the capability of observing scenes in both day and night. Compared with visible images, thermal images have lower requirements for illumination conditions, but they typically have blurred edges and low contrast. Using a boundary-aware salient object detection network, we extract the saliency maps of the thermal images to improve the distinguishability. Thermal images are augmented with the corresponding saliency maps through channel replacement and pixel-level weighted fusion methods. Considering the limited computing power of UAV platforms, a lightweight combinational neural network ComNet is used as the core object detection method. The YOLOv3 model trained on the original images is used as a benchmark and compared with the proposed method. In the experiments, we analyze the detection performances of the ComNet models with different image fusion schemes. The experimental results show that the average precisions (APs) for pedestrian and vehicle detection have been improved by 2%~5% compared with the benchmark without saliency map fusion and MobileNetv2. The detection speed is increased by over 50%, while the model size is reduced by 58%. The results demonstrate that the proposed method provides a compromise model, which has application potential in UAV-borne detection tasks.

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In his article “Defend the Roman Empire!” (1999), Ian Stewart discussed a strategy of Emperor Constantine for defending the Roman Empire. Motivated by this article, Cockayne et al. (2004) introduced the notion of Roman domination in graphs. Let 𝐺 = (𝑉, 𝐸) be a graph. A Roman dominating function of 𝐺 is a function 𝑓 ∶ 𝑉 → {0, 1, 2} such that every vertex 𝑣 for which 𝑓(𝑣) = 0 has a neighbor 𝑢 with 𝑓(𝑢) = 2. The weight of a Roman dominating function 𝑓 is 𝑤(𝑓) =∑_𝑣∈𝑉 𝑓(𝑣). The Roman domination number of a graph 𝐺, denoted by 𝛾_𝑅(𝐺), is the minimum weight of all possible Roman dominating functions. This paper introduces a quantity 𝑅(𝑥𝑦) for each pair of non-adjacent vertices {𝑥, 𝑦 }in 𝐺, called the Roman dominating index of{ 𝑥, 𝑦} , which is defined by &𝑅(𝑥𝑦) = 𝛾_𝑅(𝐺) − 𝛾_𝑅(𝐺 + 𝑥𝑦)&. We prove that 0 ≤ 𝑅(𝑥𝑦) ≤ 1 and give a necessary and sufficient condition on {𝑥, 𝑦} for which 𝑅(𝑥𝑦)= 1. This paper also introduces the Roman-critical graph. We call 𝐺 = (𝑉, 𝐸) Roman-critical if 𝛾_𝑅(𝐺 − 𝑒) > 𝛾_𝑅(𝐺) , ∀𝑒 ∈ 𝐸 . It is proved that a Roman-critical graph can only be a star graph whose order is not equal to 2, or the union of such graphs. In addition, this paper shows that for each connected graph 𝐺 of order& 𝑛 ≥ 3,2 ≤ 𝛾_𝑅(𝐺) ≤frac{4𝑛}{5}&. A family of graphs for which the respective equality holds is also provided. Finally, this paper finds the lower bound of the Roman domination number for 3-regular graphs and the exact value of the Roman domination number for &𝐶_frac{𝑛}{2}*𝑃2& and 3-regular circulant graphs.

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