Article
#1022
Issue
MathAI 2026 Selected Papers
Special Issue
Received
04 May 2026
Accepted
15 May 2026
Published
22 May 2026
Hybrid UAV Hazard Detection Approach Based on Open-Vocabulary Detection and MIVAR Expert System
MathAI 2026 Selected Papers
Special Issue
Abstract
The integration of neural network methods in computer vision with logical infer-
ence based on a Mivar expert system allows leveraging the advantages of both
paradigms: high efficiency in processing unstructured visual data and the inter-
pretability of decisions made based on formalized rules. An analysis of various
computer vision tasks was conducted, demonstrating that OVD (Open-Vocabulary
Detection) is the preferred tool for dynamic rescue operation scenarios. OVD pro-
vides the best balance between the flexibility of detecting arbitrary categories,
reliability when working with multiple objects, and the availability of data for
training. Modern vision-language architectures, their features, and advantages
were investigated. YOLO-World was selected as the base model, as it best meets
the stringent requirements of real-time operation, achieving high processing speed
while maintaining the flexibility of an open vocabulary. A fine-tuning procedure
for the model was carried out, which included freezing the text encoder and the
early layers of the convolutional backbone, as well as combining the Flickr30k,
VisDrone, and SARD2 datasets. Using Flickr30k helped preserve the quality of
the vision-language space, while the specialized datasets adapted the model to
real-world application conditions. The fine-tuned model showed a significant in-
crease in accuracy (mAP@50 rose from 0.0974 to 0.342, and mAP@50:95 from
0.0673 to 0.202), and also gained the ability to correctly recognize human poses
specific to rescue operations and types of vehicles in drone imagery. A system
of parameters and rules for the Mivar Expert System (MES) is proposed, which
allows transitioning from simply listing objects in an image to a comprehensive
situation assessment. This transforms the system into an active operator assistant,
capable not only of detecting but also of interpreting threats. Thus, the developed
hybrid intelligent system, combining the YOLO-World detector and the Mivar
expert system, fully meets the stated goal and specified requirements:
• Real-time operation due to the optimized architecture;
• Flexibility of control through text prompts in natural language;
• Interpretability and logical validity of decisions thanks to Mivar logical in-
ference.
Cite this article
Lamcev, O.; Chernyadiev, I.; Maksimova, A. Hybrid UAV Hazard Detection Approach Based on Open-Vocabulary Detection and MIVAR Expert System. Mathematics & AI 2026, 1, 19. https://enigma.ist/j/mathematics-ai/1/2/19