[4] [4] YAN Y, MAO Y, LI B. Second: sparsely embedded convolutional detection[J]. Sensors, 2018, 18(10): 1-17.

[5] [5] Hossein Pourazar, Farhad Samadzadegan, Farzaneh Dadrass Javan. A deep 2D/3D Feature-Level fusion for classification of UAV multispectral imagery in urban areas[J]. Geocarto International, 2022, 37(23): 6695-6712.

[6] [6] Sochor J, Spahel J, Herout A. Boxcars: improving fine-grained recognition of vehicles using 3-d bounding boxes in traffic surveillance[J]. IEEE Transactions on Intelligent Transportation Systems, 2018, 20(1): 97-108.

[8] [8] Dubsk M, Herout A, Jurnek R, et al. Fully automatic roadside camera calibration for traffic surveillance[J]. IEEE Transactions on Intelligent Transportation Systems, 2014, 16(3): 1162-1171.

[9] [9] Dubsk M, Herout A, Sochor J. Automatic camera calibration for traffic understanding[C]//Proceedings of the British Machine Vision Conference (BMVC), 2014: 1-12.

[10] [10] GISEOK K, JAE- SOO C. Vision- Based vehicle detection and inter- vehicle distance estimation for driver alarm system[J]. Optical Review, 2012, 25(6): 388-393.

[12] [12] CHOI C, TAGUCHI Y, TUZEL O, et al. Voting-based pose estimationfor robotic assembly using a 3D sensor[C]//IEEE International Conference on Robotics & Automation, 2013: 1724-1731.