Road Obstacle Object Detection Based on Improved YOLO V4

International Journal of Advanced Network, Monitoring, and Controls

article

Xiao Zuo¹  Jun Yu¹  Tong Xian¹  Yuzhe Hu²  Zhiyi Hu³ 

[1] School of Computer Science and Engineering Xi’an Technological University Xi’an;Jinan University-University of Birmingham Joint Institute Jinan University Guangzhou;Engineering Design Institute Army Research Loboratory Beijing

关键词: YOLO v4 Algorithm;    Obstacle;    Object Detection;    Loss Function;   

DOI  :  10.21307/ijanmc-2021-023

学科分类：社会科学、人文和艺术（综合）

来源: Asociación Regional De Diálisis Y Trasplantes Renales

【 摘 要 】

In recent years, as one of the important technical tasks in the field of deep learning, object detection has broad prospects and applications in the field of road obstacle detection. However, in the real driving scene, there are many obstacles, serious occlusion, overlap and other problems, so that the existing obstacle detection algorithm can not effectively detect the obstacles on the road, so it can not guarantee the driving safety. In order to solve the above problems, this paper improves on the basis of Yolo V4 algorithm. Firstly, kmeans + + clustering is used to generate a priori box suitable for the data set to enhance the scale adaptability; Then, the ciou is used as the loss function of coordinate prediction to evaluate the coincidence degree of prediction frame and truth value frame more reasonably. Finally, a suitable target detection data set is constructed by preprocessing the public data set cityccaps. The experimental results show that the improved algorithm can achieve more than 90% accuracy for obstacles with large number of targets in the training set. Compared with the original Yolo V4, the average detection accuracy of the improved algorithm is improved by 2.03%.

【 授权许可】

CC BY-NC-ND