Fig. 1. Network structure of SSD object detection algorithm

Fig. 2. Structural diagram of algorithm

Fig. 3. Schematic of map division in STING algorithm. (a) Rendering of grid raster on map; (b) rendering of clustering on map

Fig. 4. Test results

Fig. 5. Relationship between frame rate and image size of SSD based on sliding window method

Fig. 6. Relationship between running time and clustering data in gradient clustering algorithm

Fig. 7. Frame rate versus image size and data efficiency in gradient clustering algorithm

Fig. 8. Frame rate versus image pixels and dispersion in SSD algorithm based on gradient clustering

Fig. 9. Recall rates for different object categories

Fig. 10. Relationship between object recall rate and normalized dispersion