A Feature Pyramid Fusion Detection Algorithm Based on Radar and Camera Sensor

Author(s):  
Liang-qun Li ◽  
Yuan-liang Xie
Electronics ◽  
2020 ◽  
Vol 9 (8) ◽  
pp. 1235
Author(s):  
Yang Yang ◽  
Hongmin Deng

In order to make the classification and regression of single-stage detectors more accurate, an object detection algorithm named Global Context You-Only-Look-Once v3 (GC-YOLOv3) is proposed based on the You-Only-Look-Once (YOLO) in this paper. Firstly, a better cascading model with learnable semantic fusion between a feature extraction network and a feature pyramid network is designed to improve detection accuracy using a global context block. Secondly, the information to be retained is screened by combining three different scaling feature maps together. Finally, a global self-attention mechanism is used to highlight the useful information of feature maps while suppressing irrelevant information. Experiments show that our GC-YOLOv3 reaches a maximum of 55.5 object detection mean Average Precision (mAP)@0.5 on Common Objects in Context (COCO) 2017 test-dev and that the mAP is 5.1% higher than that of the YOLOv3 algorithm on Pascal Visual Object Classes (PASCAL VOC) 2007 test set. Therefore, experiments indicate that the proposed GC-YOLOv3 model exhibits optimal performance on the PASCAL VOC and COCO datasets.


2018 ◽  
Vol 189 ◽  
pp. 04006
Author(s):  
Nan Wang ◽  
Yunshan Xu ◽  
Haibao Xia ◽  
Jundi Wang

In this paper, a fusion detection algorithm that focuses on decentralized CFAR (Constant False Alarm Rate) signal detection problem without prior information is proposed. In the algorithm, the threshold and test statistic of the detection fusion algorithm derive from the conventional CFAR detection method. At last a framework for decentralized CFAR signal detection is designed corresponding to the fusion algorithm. Simulation results illustrate that an almost optimal detection performance is obtained by the proposed algorithm.


Author(s):  
Aofeng Li ◽  
Xufang Zhu ◽  
Shuo He ◽  
Jiawei Xia

AbstractIn view of the deficiencies in traditional visual water surface object detection, such as the existence of non-detection zones, failure to acquire global information, and deficiencies in a single-shot multibox detector (SSD) object detection algorithm such as remote detection and low detection precision of small objects, this study proposes a water surface object detection algorithm from panoramic vision based on an improved SSD. We reconstruct the backbone network for the SSD algorithm, replace VVG16 with a ResNet-50 network, and add five layers of feature extraction. More abundant semantic information of the shallow feature graph is obtained through a feature pyramid network structure with deconvolution. An experiment is conducted by building a water surface object dataset. Results showed the mean Average Precision (mAP) of the improved algorithm are increased by 4.03%, compared with the existing SSD detecting Algorithm. Improved algorithm can effectively improve the overall detection precision of water surface objects and enhance the detection effect of remote objects.


2021 ◽  
Vol 13 (2) ◽  
pp. 160
Author(s):  
Jiangqiao Yan ◽  
Liangjin Zhao ◽  
Wenhui Diao ◽  
Hongqi Wang ◽  
Xian Sun

As a precursor step for computer vision algorithms, object detection plays an important role in various practical application scenarios. With the objects to be detected becoming more complex, the problem of multi-scale object detection has attracted more and more attention, especially in the field of remote sensing detection. Early convolutional neural network detection algorithms are mostly based on artificially preset anchor-boxes to divide different regions in the image, and then obtain the prior position of the target. However, the anchor box is difficult to set reasonably and will cause a large amount of computational redundancy, which affects the generality of the detection model obtained under fixed parameters. In the past two years, anchor-free detection algorithm has achieved remarkable development in the field of detection on natural image. However, there is no sufficient research on how to deal with multi-scale detection more effectively in anchor-free framework and use these detectors on remote sensing images. In this paper, we propose a specific-attention Feature Pyramid Network (FPN) module, which is able to generate a feature pyramid, basing on the characteristics of objects with various sizes. In addition, this pyramid suits multi-scale object detection better. Besides, a scale-aware detection head is proposed which contains a multi-receptive feature fusion module and a size-based feature compensation module. The new anchor-free detector can obtain a more effective multi-scale feature expression. Experiments on challenging datasets show that our approach performs favorably against other methods in terms of the multi-scale object detection performance.


2021 ◽  
Vol 13 (22) ◽  
pp. 4610
Author(s):  
Li Zhu ◽  
Zihao Xie ◽  
Jing Luo ◽  
Yuhang Qi ◽  
Liman Liu ◽  
...  

Current object detection algorithms perform inference on all samples at a fixed computational cost in the inference stage, which wastes computing resources and is not flexible. To solve this problem, a dynamic object detection algorithm based on a lightweight shared feature pyramid is proposed, which performs adaptive inference according to computing resources and the difficulty of samples, greatly improving the efficiency of inference. Specifically, a lightweight shared feature pyramid network and lightweight detection head is proposed to reduce the amount of computation and parameters in the feature fusion part and detection head of the dynamic object detection model. On the PASCAL VOC dataset, under the two conditions of “anytime prediction” and “budgeted batch object detection”, the performance, computation amount and parameter amount are better than the dynamic object detection models constructed by networks such as ResNet, DenseNet and MSDNet.


2021 ◽  
Vol 11 (24) ◽  
pp. 11630
Author(s):  
Yan Zhou ◽  
Sijie Wen ◽  
Dongli Wang ◽  
Jinzhen Mu ◽  
Irampaye Richard

Object detection is one of the key algorithms in automatic driving systems. Aiming at addressing the problem of false detection and the missed detection of both small and occluded objects in automatic driving scenarios, an improved Faster-RCNN object detection algorithm is proposed. First, deformable convolution and a spatial attention mechanism are used to improve the ResNet-50 backbone network to enhance the feature extraction of small objects; then, an improved feature pyramid structure is introduced to reduce the loss of features in the fusion process. Three cascade detectors are introduced to solve the problem of IOU (Intersection-Over-Union) threshold mismatch, and side-aware boundary localization is applied for frame regression. Finally, Soft-NMS (Soft Non-maximum Suppression) is used to remove bounding boxes to obtain the best results. The experimental results show that the improved Faster-RCNN can better detect small objects and occluded objects, and its accuracy is 7.7% and 4.1% respectively higher than that of the baseline in the eight categories selected from the COCO2017 and BDD100k data sets.


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