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Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance

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  • Additional Information
    • Publication Information:
      USA: IEEE
    • Publication Date:
      2020
    • Abstract:
      Object detection is a critical problem for advanced driving assistance systems (ADAS). Recently, convolutional neural networks (CNN) achieved large successes on object detection, with performance improvement over traditional approaches, which use hand-engineered features. However, due to the challenging driving environment (e.g., large object scale variation, object occlusion, and bad light conditions), popular CNN detectors do not achieve very good object detection accuracy over the KITTI autonomous driving benchmark dataset. In this paper, we propose three enhancements for CNN-based visual object detection for ADAS. To address the large object scale variation challenge, deconvolution and fusion of CNN feature maps are proposed to add context and deeper features for better object detection at low feature map scales. In addition, soft non-maximal suppression (NMS) is applied across object proposals at different feature scales to address the object occlusion challenge. As the cars and pedestrians have distinct aspect ratio features, we measure their aspect ratio statistics and exploit them to set anchor boxes properly for better object matching and localization. The proposed CNN enhancements are evaluated with various image input sizes by experiments over KITTI dataset. The experimental results demonstrate the effectiveness of the proposed enhancements with good detection performance over KITTI test set.
    • Author Affiliations:
      Onlyou Artificial Intelligence Institute, Shanghai, China
      School of Engineering and Applied Science, Aston University, Birmingham, U.K.
      Institute of Image Communication and Network Engineering, Shanghai Jiaotong University, Shanghai, China
      Forward Innovation Ltd., Shenzhen, China
    • ISSN:
      1524-9050
      1558-0016
    • Accession Number:
      10.1109/TITS.2019.2910643
    • Rights:
      Copyright 2000-2011, IEEE
    • AMSID:
      8694965
    • Date of Current Version:
      2020
    • Document Subtype:
      IEEE Transaction
    • Sponsored by:
      IEEE Intelligent Transportation Systems Society
    • Accession Number:
      edseee.8694965
  • Citations
    • ABNT:
      WEI, J. et al. Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst, [s. l.], v. 21, n. 4, p. 1572–1583, 2020. DOI 10.1109/TITS.2019.2910643. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8694965&custid=s8280428. Acesso em: 3 jun. 2020.
    • AMA:
      Wei J, He J, Zhou Y, Chen K, Tang Z, Xiong Z. Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans Intell Transport Syst. 2020;21(4):1572-1583. doi:10.1109/TITS.2019.2910643.
    • APA:
      Wei, J., He, J., Zhou, Y., Chen, K., Tang, Z., & Xiong, Z. (2020). Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst, 21(4), 1572–1583. https://doi.org/10.1109/TITS.2019.2910643
    • Chicago/Turabian: Author-Date:
      Wei, J., J. He, Y. Zhou, K. Chen, Z. Tang, and Z. Xiong. 2020. “Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance.” IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst 21 (4): 1572–83. doi:10.1109/TITS.2019.2910643.
    • Harvard:
      Wei, J. et al. (2020) ‘Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance’, IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst, 21(4), pp. 1572–1583. doi: 10.1109/TITS.2019.2910643.
    • Harvard: Australian:
      Wei, J, He, J, Zhou, Y, Chen, K, Tang, Z & Xiong, Z 2020, ‘Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance’, IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst, vol. 21, no. 4, pp. 1572–1583, viewed 3 June 2020, .
    • MLA:
      Wei, J., et al. “Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance.” IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst, vol. 21, no. 4, Apr. 2020, pp. 1572–1583. EBSCOhost, doi:10.1109/TITS.2019.2910643.
    • Chicago/Turabian: Humanities:
      Wei, J., J. He, Y. Zhou, K. Chen, Z. Tang, and Z. Xiong. “Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance.” IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans. Intell. Transport. Syst 21, no. 4 (April 1, 2020): 1572–83. doi:10.1109/TITS.2019.2910643.
    • Vancouver/ICMJE:
      Wei J, He J, Zhou Y, Chen K, Tang Z, Xiong Z. Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance. IEEE Transactions on Intelligent Transportation Systems, Intelligent Transportation Systems, IEEE Transactions on, IEEE Trans Intell Transport Syst [Internet]. 2020 Apr 1 [cited 2020 Jun 3];21(4):1572–83. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8694965&custid=s8280428