Falcon: Wide Angle Fovea Vision System for Marine Rescue Drone

In this paper, we propose a new vision system for marine rescue drones called Falcon. Our system is designed to track and monitor individuals in need of rescue using a wide-angle field of view and a gimbal mechanism to control the camera direction. Additionally, our system utilizes a high-resolution central field of view to assess the priority level of the person in need of rescue. We conducted two experiments to test our system's performance. The first experiment focused on the correlation between the data compression rate of the system and the precision and recall scores of human detection using YOLO in three different flight altitudes. The second experiment examined the correlation between the distance from the center of the images captured by the system and the confidence score of the detected persons, considering the resolution difference from the central region to the periphery.