2021
DOI: 10.3390/s21072380
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Confidence-Aware Object Detection Based on MobileNetv2 for Autonomous Driving

Abstract: Object detection is an indispensable part of autonomous driving. It is the basis of other high-level applications. For example, autonomous vehicles need to use the object detection results to navigate and avoid obstacles. In this paper, we propose a multi-scale MobileNeck module and an algorithm to improve the performance of an object detection model by outputting a series of Gaussian parameters. These Gaussian parameters can be used to predict both the locations of detected objects and the localization confid… Show more

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Cited by 14 publications
(7 citation statements)
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“…DeepLabV3+ is a semantic segmentation model that combines Encoder and Decoder components [31]. The Encoder utilizes the Xception backbone network and deep features extracted by Atrous Spatial Pyramid Pooling (ASPP) [32]. These features are then fed into the Decoder through upsampling, where they are fused with the original shallow feature map.…”
Section: Identification Of Field and Road Boundariesmentioning
confidence: 99%
See 1 more Smart Citation
“…DeepLabV3+ is a semantic segmentation model that combines Encoder and Decoder components [31]. The Encoder utilizes the Xception backbone network and deep features extracted by Atrous Spatial Pyramid Pooling (ASPP) [32]. These features are then fed into the Decoder through upsampling, where they are fused with the original shallow feature map.…”
Section: Identification Of Field and Road Boundariesmentioning
confidence: 99%
“…features extracted by Atrous Spatial Pyramid Pooling (ASPP) [32]. These features are then fed into the Decoder through upsampling, where they are fused with the original shallow feature map.…”
Section: Identification Of Field and Road Boundariesmentioning
confidence: 99%
“…MobileNetV2 utilizes an inverted residual structure and linear bottleneck to create an efficient layer structure. It employs separable depth-wise convolutions, which split the standard convolution into two separate functions [30]. This approach reduces computational requirements and the overall model size, as depicted in Fig.…”
Section: ) Mobilenetv2 Modelmentioning
confidence: 99%
“…The coverage area of the HAP is large enough to ensure that GVs are always and continuously under coverage in the AoI, even in case of mobility Each GV generates video frames of size n UL ∈ [1, 3] Mb from its camera sensor at an average rate r = 10 fps. Object detection on these frames requires a constant computational load of C = 60 GFLOP per frame, which is computed as the average between the computational performance of two popular object detectors, namely Gaussian YOLO and SqueezeDet+ [18]. If frames are offloaded to the HAP (with probability η * ), eventually the processed output (i.e., the bounding boxes of the detected objects) is returned to the GVs in a packet of a much smaller size than the original frame, i.e., n DL = 100 kb, which implies that t DL ≪ t UL .…”
Section: A Simulation Setup and Parametersmentioning
confidence: 99%