Chinese Journal of Liquid Crystals and Displays, Volume. 38, Issue 10, 1445(2023)
Vehicle detection in foggy weather combining millimeter wave rada and machine vision
Figures & Tables(16)
Fig. 5. Comparison of YOLOv5s detection results before and after improvement
Fig. 7. Comparison of detection results before and after defogging
Table 1. Performance comparison of defogging algorithms
View tableView in ArticleTable 1. Performance comparison of defogging algorithms
算法 优点 缺点 自适应直方图均衡化 使用范围广 增强效果有限，鲁棒性差 暗通道去雾 稳定性高，实时性高 去雾效果偏暗 DehazeNet 去雾效果好 网络结构复杂，实时性差
Table 2. Comprehensive performance of five versions of YOLOv5 on the COCO dataset
View tableView in ArticleTable 2. Comprehensive performance of five versions of YOLOv5 on the COCO dataset
模型 mAP 时间/ms 参数/M FLOPs/Billion YOLOv5n 28.0 45 1.9 4.5 YOLOv5s 37.4 98 7.2 16.5 YOLOv5m 45.4 224 21.2 49.0 YOLOv5l 49 430 46.5 109.1 YOLOv5x 50.7 766 86.7 205.7
Table 3. Comparison of test results
View tableView in ArticleTable 3. Comparison of test results
检测网络 准确率/% 召回率/% 预测时间/s 模型参数/MB YOLOv5s 92.63 93.31 0.17 13.70 改进后YOLOv5s 92.56 93.31 0.11 9.85
Table 4. Correspondence between target cross-sections and target types
View tableView in ArticleTable 4. Correspondence between target cross-sections and target types
类型 公交车 自行车 汽车 卡车 RCS 160~180 2 100~150 200~300
Table 5. Object detection results before and after defogging
View tableView in ArticleTable 5. Object detection results before and after defogging
天气 原始图像 去雾后图像 准确率/% 召回率/% 准确率/% 召回率/% 薄雾 85.89 75.69 91.01 85.55 大雾 69.52 65.46 82.45 71.43 浓雾 62.34 44.42 67.89 47.62
Table 6. Statistics of target detection results
View tableView in ArticleTable 6. Statistics of target detection results
天气情况 车辆总数 去雾后视觉检测 毫米波雷达检测 融合后检测 准确率/% 召回率/% 准确率/% 召回率/% 准确率/% 召回率/% 薄雾 1 521 91.01 85.55 83.63 88.12 92.81 90.70 大雾 875 82.45 71.43 82.97 86.84 87.36 88.81 浓雾 556 67.89 47.62 82.57 86.65 84.73 88.17
Table 7. Test results of nuScenes dataset
View tableView in ArticleTable 7. Test results of nuScenes dataset
天气情况 准确率/% 召回率/% 薄雾 92.01 90.37 浓雾 88.87 89.03 大雾 84.71 86.79
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Qi LI, Xiao-min YE, Wen-bin FENG. Vehicle detection in foggy weather combining millimeter wave rada and machine vision[J]. Chinese Journal of Liquid Crystals and Displays, 2023, 38(10): 1445
Paper Information
Category: Research Articles
Received: Dec. 8, 2022
Accepted: --
Published Online: Oct. 25, 2023
The Author Email: Xiao-min YE (1946175704@qq.com)
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