Aiming at the problems of low detection accuracy and large model size of existing object detection algorithms applied to complex road scenes,an improved you only look once version 8(YOLOv8)object detection algorithm f...Aiming at the problems of low detection accuracy and large model size of existing object detection algorithms applied to complex road scenes,an improved you only look once version 8(YOLOv8)object detection algorithm for infrared images,F-YOLOv8,is proposed.First,a spatial-to-depth network replaces the traditional backbone network's strided convolution or pooling layer.At the same time,it combines with the channel attention mechanism so that the neural network focuses on the channels with large weight values to better extract low-resolution image feature information;then an improved feature pyramid network of lightweight bidirectional feature pyramid network(L-BiFPN)is proposed,which can efficiently fuse features of different scales.In addition,a loss function of insertion of union based on the minimum point distance(MPDIoU)is introduced for bounding box regression,which obtains faster convergence speed and more accurate regression results.Experimental results on the FLIR dataset show that the improved algorithm can accurately detect infrared road targets in real time with 3%and 2.2%enhancement in mean average precision at 50%IoU(mAP50)and mean average precision at 50%—95%IoU(mAP50-95),respectively,and 38.1%,37.3%and 16.9%reduction in the number of model parameters,the model weight,and floating-point operations per second(FLOPs),respectively.To further demonstrate the detection capability of the improved algorithm,it is tested on the public dataset PASCAL VOC,and the results show that F-YOLO has excellent generalized detection performance.展开更多
Accurate and real-time road defect detection is essential for ensuring traffic safety and infrastructure maintenance.However,existing vision-based methods often struggle with small,sparse,and low-resolution defects un...Accurate and real-time road defect detection is essential for ensuring traffic safety and infrastructure maintenance.However,existing vision-based methods often struggle with small,sparse,and low-resolution defects under complex road conditions.To address these limitations,we propose Multi-Scale Guided Detection YOLO(MGD-YOLO),a novel lightweight and high-performance object detector built upon You Only Look Once Version 5(YOLOv5).The proposed model integrates three key components:(1)a Multi-Scale Dilated Attention(MSDA)module to enhance semantic feature extraction across varying receptive fields;(2)Depthwise Separable Convolution(DSC)to reduce computational cost and improve model generalization;and(3)a Visual Global Attention Upsampling(VGAU)module that leverages high-level contextual information to refine low-level features for precise localization.Extensive experiments on three public road defect benchmarks demonstrate that MGD-YOLO outperforms state-of-the-art models in both detection accuracy and efficiency.Notably,our model achieves 87.9%accuracy in crack detection,88.3%overall precision on TD-RD dataset,while maintaining fast inference speed and a compact architecture.These results highlight the potential of MGD-YOLO for deployment in real-time,resource-constrained scenarios,paving the way for practical and scalable intelligent road maintenance systems.展开更多
Rapid and high-precision speed bump detection is critical for autonomous driving and road safety,yet it faces challenges from non-standard appearances and complex environments.To address this issue,this study proposes...Rapid and high-precision speed bump detection is critical for autonomous driving and road safety,yet it faces challenges from non-standard appearances and complex environments.To address this issue,this study proposes a you only look once(YOLO)algorithm for speed bump detection(SPD-YOLO),a lightweight model based on YOLO11s that integrates three core innova-tive modules to balance detection precision and computational efficiency:it replaces YOLO11s’original backbone with StarNet,which uses‘star operations’to map features into high-dimensional nonlinear spaces for enhanced feature representation while maintaining computational efficiency;its neck incorporates context feature calibration(CFC)and spatial feature calibration(SFC)to improve detection performance without significant computational overhead;and its detection head adopts a lightweight shared convolutional detection(LSCD)structure combined with GroupNorm,minimizing computational complexity while preserving multi-scale feature fusion efficacy.Experi-ments on a custom speed bump dataset show SPD-YOLO achieves a mean average precision(mAP)of 79.9%,surpassing YOLO11s by 1.3%and YOLO12s by 1.2%while reducing parameters by 26.3%and floating-point operations per second(FLOPs)by 29.5%,enabling real-time deploy-ment on resource-constrained platforms.展开更多
Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane discontinuities.For road boundary detection in structural environments,obstacle oc...Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane discontinuities.For road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant challenges.However,an effective and fast solution for these problems has remained elusive.To solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is proposed.The proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary points.To demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road conditions.Comprehensive experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic conditions.Meanwhile,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.展开更多
Automated object detection has received the most attention over the years.Use cases ranging from autonomous driving applications to military surveillance systems,require robust detection of objects in different illumi...Automated object detection has received the most attention over the years.Use cases ranging from autonomous driving applications to military surveillance systems,require robust detection of objects in different illumination conditions.State-of-the-art object detectors tend to fare well in object detection during daytime conditions.However,their performance is severely hampered in night light conditions due to poor illumination.To address this challenge,the manuscript proposes an improved YOLOv5-based object detection framework for effective detection in unevenly illuminated nighttime conditions.Firstly,the preprocessing strategies involve using the Zero-DCE++approach to enhance lowlight images.It is followed by optimizing the existing YOLOv5 architecture by integrating the Convolutional Block Attention Module(CBAM)in the backbone network to boost model learning capability and Depthwise Convolutional module(DWConv)in the neck network for efficient compression of network parameters.The Night Object Detection(NOD)and Exclusively Dark(ExDARK)dataset has been used for this work.The proposed framework detects classes like humans,bicycles,and cars.Experiments demonstrate that the proposed architecture achieved a higher Mean Average Precision(mAP)along with a reduction in model size and total parameters,respectively.The proposed model is lighter by 11.24%in terms of model size and 12.38%in terms of parameters when compared to baseline YOLOv5.展开更多
Based on “One Belt and One Road”, this paper studies the path selection of multimodal transport by using the method of multi-objective mixed integer programming. Therefore, this paper studies the factors of transpor...Based on “One Belt and One Road”, this paper studies the path selection of multimodal transport by using the method of multi-objective mixed integer programming. Therefore, this paper studies the factors of transportation time, transportation cost and transportation safety performance, and establishes a mathematical model. In addition, the method of multi-objective mixed integer programming is used to comprehensively consider the different emphasis and differences of customers on cargo transportation. Then we use planning tools of Microsoft Excel to solve path selection and to determine whether the chosen path is economical and reliable. Finally, a relatively complex road network is built as an example to verify the accuracy of this planning method.展开更多
基金supported by the National Natural Science Foundation of China(No.62103298)。
文摘Aiming at the problems of low detection accuracy and large model size of existing object detection algorithms applied to complex road scenes,an improved you only look once version 8(YOLOv8)object detection algorithm for infrared images,F-YOLOv8,is proposed.First,a spatial-to-depth network replaces the traditional backbone network's strided convolution or pooling layer.At the same time,it combines with the channel attention mechanism so that the neural network focuses on the channels with large weight values to better extract low-resolution image feature information;then an improved feature pyramid network of lightweight bidirectional feature pyramid network(L-BiFPN)is proposed,which can efficiently fuse features of different scales.In addition,a loss function of insertion of union based on the minimum point distance(MPDIoU)is introduced for bounding box regression,which obtains faster convergence speed and more accurate regression results.Experimental results on the FLIR dataset show that the improved algorithm can accurately detect infrared road targets in real time with 3%and 2.2%enhancement in mean average precision at 50%IoU(mAP50)and mean average precision at 50%—95%IoU(mAP50-95),respectively,and 38.1%,37.3%and 16.9%reduction in the number of model parameters,the model weight,and floating-point operations per second(FLOPs),respectively.To further demonstrate the detection capability of the improved algorithm,it is tested on the public dataset PASCAL VOC,and the results show that F-YOLO has excellent generalized detection performance.
基金supported by Chengdu Jincheng College under the General Research Project Program(Project No.JG2024-1199)titled“Research on the Training Mechanism of Undergraduate Innovation Ability Based on Deep Integration of AI Industry-Education Collaboration”.
文摘Accurate and real-time road defect detection is essential for ensuring traffic safety and infrastructure maintenance.However,existing vision-based methods often struggle with small,sparse,and low-resolution defects under complex road conditions.To address these limitations,we propose Multi-Scale Guided Detection YOLO(MGD-YOLO),a novel lightweight and high-performance object detector built upon You Only Look Once Version 5(YOLOv5).The proposed model integrates three key components:(1)a Multi-Scale Dilated Attention(MSDA)module to enhance semantic feature extraction across varying receptive fields;(2)Depthwise Separable Convolution(DSC)to reduce computational cost and improve model generalization;and(3)a Visual Global Attention Upsampling(VGAU)module that leverages high-level contextual information to refine low-level features for precise localization.Extensive experiments on three public road defect benchmarks demonstrate that MGD-YOLO outperforms state-of-the-art models in both detection accuracy and efficiency.Notably,our model achieves 87.9%accuracy in crack detection,88.3%overall precision on TD-RD dataset,while maintaining fast inference speed and a compact architecture.These results highlight the potential of MGD-YOLO for deployment in real-time,resource-constrained scenarios,paving the way for practical and scalable intelligent road maintenance systems.
文摘Rapid and high-precision speed bump detection is critical for autonomous driving and road safety,yet it faces challenges from non-standard appearances and complex environments.To address this issue,this study proposes a you only look once(YOLO)algorithm for speed bump detection(SPD-YOLO),a lightweight model based on YOLO11s that integrates three core innova-tive modules to balance detection precision and computational efficiency:it replaces YOLO11s’original backbone with StarNet,which uses‘star operations’to map features into high-dimensional nonlinear spaces for enhanced feature representation while maintaining computational efficiency;its neck incorporates context feature calibration(CFC)and spatial feature calibration(SFC)to improve detection performance without significant computational overhead;and its detection head adopts a lightweight shared convolutional detection(LSCD)structure combined with GroupNorm,minimizing computational complexity while preserving multi-scale feature fusion efficacy.Experi-ments on a custom speed bump dataset show SPD-YOLO achieves a mean average precision(mAP)of 79.9%,surpassing YOLO11s by 1.3%and YOLO12s by 1.2%while reducing parameters by 26.3%and floating-point operations per second(FLOPs)by 29.5%,enabling real-time deploy-ment on resource-constrained platforms.
基金This work was supported by the Research on Construction and Simulation Technology of Hardware in Loop Testing Scenario for Self-Driving Electric Vehicle in China(2018YFB0105103J).
文摘Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane discontinuities.For road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant challenges.However,an effective and fast solution for these problems has remained elusive.To solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is proposed.The proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary points.To demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road conditions.Comprehensive experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic conditions.Meanwhile,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.
文摘Automated object detection has received the most attention over the years.Use cases ranging from autonomous driving applications to military surveillance systems,require robust detection of objects in different illumination conditions.State-of-the-art object detectors tend to fare well in object detection during daytime conditions.However,their performance is severely hampered in night light conditions due to poor illumination.To address this challenge,the manuscript proposes an improved YOLOv5-based object detection framework for effective detection in unevenly illuminated nighttime conditions.Firstly,the preprocessing strategies involve using the Zero-DCE++approach to enhance lowlight images.It is followed by optimizing the existing YOLOv5 architecture by integrating the Convolutional Block Attention Module(CBAM)in the backbone network to boost model learning capability and Depthwise Convolutional module(DWConv)in the neck network for efficient compression of network parameters.The Night Object Detection(NOD)and Exclusively Dark(ExDARK)dataset has been used for this work.The proposed framework detects classes like humans,bicycles,and cars.Experiments demonstrate that the proposed architecture achieved a higher Mean Average Precision(mAP)along with a reduction in model size and total parameters,respectively.The proposed model is lighter by 11.24%in terms of model size and 12.38%in terms of parameters when compared to baseline YOLOv5.
文摘Based on “One Belt and One Road”, this paper studies the path selection of multimodal transport by using the method of multi-objective mixed integer programming. Therefore, this paper studies the factors of transportation time, transportation cost and transportation safety performance, and establishes a mathematical model. In addition, the method of multi-objective mixed integer programming is used to comprehensively consider the different emphasis and differences of customers on cargo transportation. Then we use planning tools of Microsoft Excel to solve path selection and to determine whether the chosen path is economical and reliable. Finally, a relatively complex road network is built as an example to verify the accuracy of this planning method.
