基于改进Efficientdet的自动驾驶场景目标检测

针对自动驾驶场景中车载平台计算资源有限及小目标检测精度较低等问题,提出一种基于Efficientdet的单阶段目标检测框架Efficientdet-Gs.通过重构倒转残差瓶颈MBConv来改进主干网络Efficientnet,在不牺牲精度的同时降低了网络的参数量和计算量;设计多尺度注意力机制模块应用于特征融合网络,进一...

Object Detection in Autonomous Driving Scene Based on Improved Efficientdet

Aiming at the problems of limited computing resources on the vehicle-mounted platform and low detection accuracy of small targets in autonomous driving scenarios, a single-stage object detection framework Efficientdet-Gs based on Efficientdet is proposed. The backbone network Efficientnet is improved by reconstructing the inverted residual bottleneck MBConv, which reduces the amount of network parameters and calculations without sacrificing accuracy. The multi-scale attention mechanism module is designed to be applied to the feature fusion network, which further improves the detection accuracy of small targets. The Balanced L1 Loss is introduced to replace the original regression loss function Smooth L1 Loss, which solves the problem of balance in the loss function. Experimental results show that, compared with Efficientdet, the calculation of Efficientdet-Gs is reduced by an average of 25%, the average detection accuracy on the BDD100K test set is increased by 4.8%, and the average inference speed is increased by 5.7%. This framework can achieve good detection results when the hardware requirements of vehicle-mounted equipment are low.