{"title":"WGS-YOLO:基于 YOLO 框架的自动驾驶实时物体检测器","authors":"Shiqin Yue , Ziyi Zhang , Ying Shi , Yonghua Cai","doi":"10.1016/j.cviu.2024.104200","DOIUrl":null,"url":null,"abstract":"<div><div>The safety and reliability of autonomous driving depends on the precision and efficiency of object detection systems. In this paper, a refined adaptation of the YOLO architecture (WGS-YOLO) is developed to improve the detection of pedestrians and vehicles. Specifically, its information fusion is enhanced by incorporating the Weighted Efficient Layer Aggregation Network (W-ELAN) module, an innovative dynamic weighted feature fusion module using channel shuffling. Meanwhile, the computational demands and parameters of the proposed WGS-YOLO are significantly reduced by employing the Space-to-Depth Convolution (SPD-Conv) and the Grouped Spatial Pyramid Pooling (GSPP) modules that have been strategically designed. The performance of our model is evaluated with the BDD100k and DAIR-V2X-V datasets. In terms of mean Average Precision (<span><math><msub><mrow><mtext>mAP</mtext></mrow><mrow><mn>0</mn><mo>.</mo><mn>5</mn></mrow></msub></math></span>), the proposed model outperforms the baseline Yolov7 by 12%. Furthermore, extensive experiments are conducted to verify our analysis and the model’s robustness across diverse scenarios.</div></div>","PeriodicalId":50633,"journal":{"name":"Computer Vision and Image Understanding","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"WGS-YOLO: A real-time object detector based on YOLO framework for autonomous driving\",\"authors\":\"Shiqin Yue , Ziyi Zhang , Ying Shi , Yonghua Cai\",\"doi\":\"10.1016/j.cviu.2024.104200\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>The safety and reliability of autonomous driving depends on the precision and efficiency of object detection systems. In this paper, a refined adaptation of the YOLO architecture (WGS-YOLO) is developed to improve the detection of pedestrians and vehicles. Specifically, its information fusion is enhanced by incorporating the Weighted Efficient Layer Aggregation Network (W-ELAN) module, an innovative dynamic weighted feature fusion module using channel shuffling. Meanwhile, the computational demands and parameters of the proposed WGS-YOLO are significantly reduced by employing the Space-to-Depth Convolution (SPD-Conv) and the Grouped Spatial Pyramid Pooling (GSPP) modules that have been strategically designed. The performance of our model is evaluated with the BDD100k and DAIR-V2X-V datasets. In terms of mean Average Precision (<span><math><msub><mrow><mtext>mAP</mtext></mrow><mrow><mn>0</mn><mo>.</mo><mn>5</mn></mrow></msub></math></span>), the proposed model outperforms the baseline Yolov7 by 12%. Furthermore, extensive experiments are conducted to verify our analysis and the model’s robustness across diverse scenarios.</div></div>\",\"PeriodicalId\":50633,\"journal\":{\"name\":\"Computer Vision and Image Understanding\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.3000,\"publicationDate\":\"2024-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Computer Vision and Image Understanding\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S1077314224002819\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computer Vision and Image Understanding","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1077314224002819","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
WGS-YOLO: A real-time object detector based on YOLO framework for autonomous driving
The safety and reliability of autonomous driving depends on the precision and efficiency of object detection systems. In this paper, a refined adaptation of the YOLO architecture (WGS-YOLO) is developed to improve the detection of pedestrians and vehicles. Specifically, its information fusion is enhanced by incorporating the Weighted Efficient Layer Aggregation Network (W-ELAN) module, an innovative dynamic weighted feature fusion module using channel shuffling. Meanwhile, the computational demands and parameters of the proposed WGS-YOLO are significantly reduced by employing the Space-to-Depth Convolution (SPD-Conv) and the Grouped Spatial Pyramid Pooling (GSPP) modules that have been strategically designed. The performance of our model is evaluated with the BDD100k and DAIR-V2X-V datasets. In terms of mean Average Precision (), the proposed model outperforms the baseline Yolov7 by 12%. Furthermore, extensive experiments are conducted to verify our analysis and the model’s robustness across diverse scenarios.
期刊介绍:
The central focus of this journal is the computer analysis of pictorial information. Computer Vision and Image Understanding publishes papers covering all aspects of image analysis from the low-level, iconic processes of early vision to the high-level, symbolic processes of recognition and interpretation. A wide range of topics in the image understanding area is covered, including papers offering insights that differ from predominant views.
Research Areas Include:
• Theory
• Early vision
• Data structures and representations
• Shape
• Range
• Motion
• Matching and recognition
• Architecture and languages
• Vision systems