Roadside Object Detection Algorithm Based on Multiscale Sequence Fusion

Ruoying Liu; Miaohua Huang; Liangzi Wang; Yongkang Hu; Ye Tao

doi:10.3788/LOP241187

Laser & Optoelectronics Progress, Volume. 62, Issue 2, 0237005(2025)

Roadside Object Detection Algorithm Based on Multiscale Sequence Fusion

Ruoying Liu^1,2,3、*, Miaohua Huang^1,2,3, Liangzi Wang^1,2,3, Yongkang Hu^1,2,3, and Ye Tao^1,2,3

¹Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, Hubei , China

²Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan 430070, Hubei , China

³Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan 430070, Hubei , China

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Figures & Tables(12)

Fig. 1. Architecture diagram of MQ-YOLO algorithm

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Fig. 2. Architecture diagram of D_C2f module

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Fig. 3. Architecture diagram of triple feature encoder module and scale sequence feature fusion module

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Fig. 4. Architecture diagram of DyDetect module

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Fig. 5. Visualization results of DAIR-V2X-I dataset. (a) Category and quantity of labels; (b) distribution of center position of detection target; (c) distribution of width and height of label

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Fig. 6. Object detection results of DAIR-V2X-I dataset. (a) Dense occlusion scene; (b) small target scene; (c) night scene

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Fig. 7. Object detection results of the DAIR-V2X-SPD-I dataset. (a) Dense occlusion scene; (b) small target scene; (c) rainy scene

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Fig. 8. Roadside object detection system. (a) System deployment location; (b) system architecture; (c) visual interface

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Fig. 9. Experimental results of roadside object detection system. (a) Sunny scene; (b) rainy scene; (c) night scene

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Table 1. Ablation experiments on DAIR-V2X-I dataset

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Table 1. Ablation experiments on DAIR-V2X-I dataset

Method	Type	Parameter /M	GFLOPs	mAP@50 /%	mAP@（50‒95） /%	FPS /（frame/s）
1	YOLOv8	3.00	8.10	86.7	64.6	150.8
2	YOLOv8+D-C2f	3.00	8.10	86.8	64.8	157.7
3	YOLOv8+PSF	2.86	17.00	88.9	67.1	121.3
4	YOLOv8+DyDetect	3.62	10.40	88.0	66.9	94.7
5	YOLOv8+NWD	3.01	8.20	87.0	64.7	142.2
6	YOLOv8+D-C2f+PSF	3.48	15.30	88.8	67.3	110.2
7	YOLOv8+D-C2f+PSF+DyDetect	3.17	19.40	90.5	70.3	69.6
8	YOLOv8+ D-C2f+PSF+DyDetect+NWD	3.96	22.20	90.6	70.6	69.2

Table 2. Comparison of detection results of different algorithms on DAIR-V2X-I dataset

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Table 2. Comparison of detection results of different algorithms on DAIR-V2X-I dataset

Method	Parameter /M	GFLOPs	mAP@50 /%	mAP@（50‒95） /%	FPS/（frame/s）
SSD	26.30	62.70	68.8	39.6	34.4
YOLOXs	54.20	156.00	82.3	49.8	101.0
YOLOv5n	2.51	7.10	86.2	64.0	139.2
YOLOv5s	9.11	23.80	89.4	68.7	133.3
YOLOv7-Tiny	6.02	13.20	87.7	60.5	117.6
YOLOv8n	3.00	8.10	86.7	64.6	150.8
YOLOv8s	11.13	28.40	89.3	69.2	146.2
YOLOv9-Tiny	4.25	18.60	88.2	67.3	41.1
MQ-YOLO	3.96	22.20	90.6	70.6	69.2

Table 3. Comparison of detection results of different algorithms on DAIR-V2X-SPD-I dataset
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Table 3. Comparison of detection results of different algorithms on DAIR-V2X-SPD-I dataset
Method mAP@50 /% Mean value /%
Car Pedestrian Cyclist Bus Van Truck
YOLOv8n 97.4 77.8 91.7 99.4 98.2 98.5 93.8
MQ-YOLO 98.7 92.7 95.8 99.4 99.1 99.4 97.5

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Ruoying Liu, Miaohua Huang, Liangzi Wang, Yongkang Hu, Ye Tao. Roadside Object Detection Algorithm Based on Multiscale Sequence Fusion[J]. Laser & Optoelectronics Progress, 2025, 62(2): 0237005

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Paper Information

Category: Digital Image Processing

Received: Apr. 28, 2024

Accepted: May. 20, 2024

Published Online: Jan. 7, 2025

The Author Email:

DOI:10.3788/LOP241187

CSTR:32186.14.LOP241187

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Ablation experiments on DAIR-V2X-I dataset

Table 1. Ablation experiments on DAIR-V2X-I dataset

Table 2. Comparison of detection results of different algorithms on DAIR-V2X-I dataset

Table 2. Comparison of detection results of different algorithms on DAIR-V2X-I dataset

Table 3. Comparison of detection results of different algorithms on DAIR-V2X-SPD-I dataset

Table 3. Comparison of detection results of different algorithms on DAIR-V2X-SPD-I dataset