Real-Time Search and Rescue with Drones: A Deep Learning Approach for Small-Object Detection Based on YOLO

Unmanned aerial vehicles are increasingly used in civil Search and Rescue operations due to their rapid deployment and wide-area coverage capabilities. However, detecting missing persons from aerial imagery remains challenging due to small object sizes, cluttered backgrounds, and limited onboard computational resources, especially when managed by civil agencies. In this work, we present a comprehensive methodology for optimizing YOLO-based object detection models for real-time Search and Rescue scenarios. A two-stage transfer learning strategy was employed using VisDrone for general aerial object detection and Heridal for Search and Rescue-specific fine-tuning. We explored various architectural modifications, including enhanced feature fusion (FPN, BiFPN, PB-FPN), additional detection heads (P2), and modules such as CBAM, Transformers, and deconvolution, analyzing their impact on performance and computational efficiency. The best-performing configuration (YOLOv5s-PBfpn-Deconv) achieved a mAP@50 of 0.802 on the Heridal dataset while maintaining real-time inference on embedded hardware (Jetson Nano). Further tests at different flight altitudes and explainability analyses using EigenCAM confirmed the robustness and interpretability of the model in real-world conditions. The proposed solution offers a viable framework for deploying lightweight, interpretable AI systems for UAV-based Search and Rescue operations managed by civil protection authorities. Limitations and future directions include the integration of multimodal sensors and adaptation to broader environmental conditions.