Robustness Benchmark Evaluation and Optimization for Real-Time Vehicle Detection Under Multiple Adverse Conditions

With the rapid development of Internet of Things (IoT) and UAV technology, for the whole IoT system of vehicle detection, the middle and high level of information transmission and server processing has made a breakthrough, so at the bottom of the real-time detection of the vehicle by the UAV is the key to the whole system. However, UAV vehicle detection faces the challenges of too many small targets in the image leading to low detection accuracy, limited hardware platform resources requiring control of model size, and real-time detection requiring high inference speed. Aiming at the above problems, we propose a lightweight model PrFu-YOLO based on YOLOv8 improvement, which achieves a good balance between the accuracy, inference speed, and model size. And it realizes real-time vehicle detection embedded in an UAV platform. To solve the problem of low vehicle detection accuracy, we design a new structure PrFuFPN based on adding a small target detection layer to achieve more advanced feature fusion. To address the limited resources of the platform and the problem of real-time vehicle detection, we add GhostConv to the structure and constantly try to adjust the parameters of the network. Finally, extensive experiments were conducted on the VisDrone2019 and CARPK data sets to fully evaluate the model. Compared to YOLOv8s on the VisDrone2019 test set, mAP50 was improved by 10.05%, mA95 by 14.54%, the number of parameters was reduced by 8.13%, and the model size was reduced by 12.5%, while the FPS of 67.13 fully met the needs of real-time detection.

Vehicle detection is an important component in unmanned driving systems. This paper presents a real-time vehicle detection method under complex road conditions to solve the problem of real-time detection of road vehicles in automatic driving. Firstly using yolo network to build a deeper depth neural network, which is used to identify and score the vehicles in the image. Then, using the dynamic threshold method to remove some false candidate boxes, and using the Gauss attenuation function to filter the overlapping candidate boxes. The loss function normalized by the change rate is used to train the neural network, and the batch normalization layer is used to correct the input data of the network to avoid data deviation during the training process. Finally, a full convolution layer is added at the end of the network layer to transform the two-dimensional data into one-dimensional data and output the final recognition results. It is verified that this method improves the efficiency and accuracy of real-time vehicle detection, it can effectively detect vehicles on roads with complex backgrounds, and satisfy the real-time requirements of road vehicle detection.

In the field of intelligent transportation, accurate vehicle detection, tracking, and re-identification are essential tasks that enable real-time monitoring, congestion management, and safety improvements. To address these needs in high-traffic highway environments, this study proposes a multi stage traffic flow model combining deep learning and metric learning. The model leverages the Segment Anything Model for vehicle detection, utilizing language-prompting to automate segmentation, thereby reducing manual adjustments and improving adaptability across complex traffic scenarios. For vehicle tracking, the model employs the StrongSORT algorithm, integrated with mask-based tracking to enhance recognition coherence and maintain resilience against occlusions, especially in congested conditions. Additionally, the PP-OCR module accurately extracts timestamps to support interval speed measurement across multiple viewpoints, using vehicle re-identification results for precise multi-camera tracking. Experimental results demonstrate that the proposed model significantly outperforms state-of-the-art methods, achieving higher mean average precision and tracking accuracy in both high-density and challenging traffic conditions, highlighting its robustness and suitability for intelligent transportation systems.

Vehicle detection in intelligent transportation systems (ITS) is a very important and challenging task in traffic monitoring. The difficulty of this task is to accurately locate and classify relatively small vehicles in complex scenes. To solve these problems, this paper proposes a modified one-stage detector based on background prediction and group normalization to realize real-time and accurate detection of traffic vehicles. The one-stage detector firstly adds a module to adjust the width and height of anchors and predict the target background, which avoids the problem of the target vehicle missing detection or wrong detection due to the influence of the complicated environments. Then, group normalization and the loss function based on weight attenuation can improve the one-stage detector performance in the training process. The experimental results on traffic monitoring datasets indicate that the improved one-stage detector is superior to the other neural network models in terms of precision at 95.78%.

In recent years, deep learning models have seen extensive use in various domains, with the YOLO algorithm family emerging as a prominent player.YOLOv5, known for its real-time object detection capabilities and high accuracy, has been widely embraced in transportationrelated research.However, the introduction of YOLOv8 in early 2023 signifies a significant leap forward in object detection technology.Despite its potential, the literature on YOLOv8 remains relatively scarce, leaving room for exploration and adoption in research.This study pioneers real-time vehicle detection using the YOLOv8 algorithm.An in-depth analysis of YOLOv8n, the smallest scale model within the YOLOv8 series, was conducted to assess its suitability for real-time scenarios, particularly in Intelligent Transportation Systems (ITS).To reinforce its real-time capabilities, a parametric analysis covering image processing time, detection sensitivity, and input image characteristics was performed.To optimize model performance, a training dataset was created through flight tests using a custom autonomous drone, encompassing various vehicle variations.This ensures that the model excels in recognizing diverse motor vehicle configurations.The results reveal that even this compact sub-model achieves an impressive detection accuracy rate exceeding 80%.The study establishes that YOLOv8n, evaluated for the first time in ITS applications, effectively serves as an object detector for real-time smart traffic management.

Vehicular Ad hoc Networks (VANETs) that are considered as a subset of Mobile Ad hoc Networks (MANETs) can be applied in the field of transportation especially in Intelligent Transportation Systems (ITS). The routing process in these networks is a challenging task due to rapid topology changes, high vehicle mobility and frequent disconnection of links. Therefore, developing an efficient routing protocol that satisfies restriction of delay and minimum overhead is faced with many difficulties and limitations. Also, the detection of malicious vehicles is a significant task in VANETs. To address these issues, using Unmanned Aerial Vehicles (UAVs) can be helpful to cope with these limitations. In this paper, operation of UAVs in ad hoc mode and their cooperation with vehicles in VANETs are studied to help in the process of routing and detection of malicious vehicles. A routing protocol named VRU is proposed that includes two distinct ways of routing of data: (1) delivering packets of data between vehicles with the help of UAVs using a protocol named VRU_vu, and (2) routing packet of data between UAVs using a protocol named VRU_u. The NS-2.35 simulator under Linux Ubuntu 12.04 is utilized in order to appraise the performance of VRU routing components in an urban scenario. Also, VanetMobiSim generator of mobility and MobiSim are used to produce the motions of vehicles and to produce the motions of UAVs, respectively. The performance analysis displays that VRU protocol can improve the packet delivery ratio by 16% and detection ratio by 7% compared to other reviewed routing protocol. Also, VRU protocol decreases end-to-end delay by an average of 13% and overhead by 40%.

Deep learning-based classification and detection algorithms have emerged as a powerful tool for vehicle detection in intelligent transportation systems. The limitations of the number of high-quality labeled training samples makes the single vehicle detection methods incapable of accomplishing acceptable accuracy in road vehicle detection. This paper presents detection and classification of vehicles on publicly available datasets by utilizing the YOLO-v5 architecture. This paper’s findings utilize the concept of transfer learning through fine tuning the weights of the pre-trained YOLO-v5 architecture. To employ the concept of transfer learning, extensive data sets of images and videos of the congested traffic patterns were collected by the authors. These datasets were made more comprehensive by pointing various attributes, for instance high- and low-density traffic patterns, occlusions, and different weather circumstances. All of these gathered datasets were manually annotated. Ultimately, the improved YOLO-v5 structure becomes accustomed to any difficult traffic patterns. By fine-tuning the pre-trained network through our datasets, our proposed YOLO-v5 has exceeded several other traditional vehicle detection methods in terms of detection accuracy and execution time. Detailed simulations performed on the PKU, COCO, and DAWN datasets demonstrate the effectiveness of the proposed method in various challenging situations.

Real-time vehicle detection using histograms of oriented gradients and AdaBoost classification

Transportation plays an important role in urban development However, the vehicle growth in Indonesia is not supported by the number of road. Due to this fact, traffic congestion is easily occurred, especially in big cities. Intelligent Transportation System (ITS) has huge contribution to decrease the traffic congestion. In ITS, vehicle detection is one of challenging issue for traffic surveillance. In this paper, adaptive selective background learning and hole filling algorithm are applied to improve the vehicle detection. The validity of the proposed method is tested by using three scenarios and two parameters. The scenarios are bad weather close range (BW-CR), normal weather close range (NW-CR) and normal weather wide range (NW-WR). While, the parameters are the time duration of stopped vehicle detection and the pixel accuracy. Then, the proposed method (Adaptive Selective Background Learning-Hole Filling algorithm) is compared by another previous vehicle detection method. Generally, the result shows that the proposed method yields a significant improvement in vehicle detection. ASBL-HF can detect the stopped and moved vehicle with free noises. Moreover, ASBL-HF has the best accuracy. The accuracy value is about 98.2%.

Due to the explosive increase per capita in vehicle ownership in China brought about by the continuous development of the economy and society, many negative impacts have arisen, making it necessary to establish the smart city system that has rapidly developing vehicle detection technology as its data acquisition system. This paper proposes a lightweight detection model based on an improved version of YOLOv5 to address the problem of missed and false detections caused by occlusion during rush hour vehicle detection in surveillance videos. The proposed model replaces the BottleneckCSP structure with the Ghostnet structure and prunes the network model to speed up inference. Additionally, the Coordinate Attention Mechanism is introduced to enhance the network’s feature extraction and improve its detection and recognition ability. Distance-IoU Non-Maximum Suppression replaces Non-Maximum Suppression to address the issue of false detection and omission when detecting congested targets. Lastly, the combination of the five-frame differential method with VIBE and MD-SILBP operators is used to enhance the model’s feature extraction capabilities for vehicle contours. The experimental results show that the proposed model outperforms the original model in terms of the number of parameters, inference ability, and accuracy when applied to both the expanded UA-DETRAC and a self-built dataset. Thus, this method has significant industrial value in intelligent traffic systems and can effectively improve vehicle detection indicators in traffic monitoring scenarios.

The precise vehicle detection, following, and speed estimation are the essential elements of intelligent transportation system and traffic analytics. Conventional systems tend to be based on manual calibration or multi-sensors, which restrict scalability and flexibility. The paper introduces a vision-based, fully automated real-time vehicle monitoring system that combines the YOLO v11 object detector, an Enhanced SORT tracker to provide very robust multi-object tracking and an automatic camera calibration system to self-estimate the pixel-to-meter conversion ratio. The suggested system does not require manual calibration and takes advantage of such dimensions as typical vehicles, confidence-weighted fusion, and statistical filtering to stabilize scale estimation. Enhanced SORT tracker uses a Kalman filter-based motion model, and IOU + LAP association to get the same object ID and extract the velocity. Experimental results of testing on several traffic video streams show a mean processing rate of 25-30 frames/s, error of speed estimation of +-2 km/h and convergent calibration within 45 seconds. Structured CSV and JSON analytics are also produced by the system to analysis additional traffic flow and anomalies. The findings are that the suggested solution is a cost-efficient, scalable, and precise solution to real-time traffic monitoring and vehicle behavior analytics.

Real-time object detection and ranging of multiple objects on the road are the essential tasks in the field of autonomous driving. In this paper, we introduce a system for simultaneous detection and ranging of vehicles, people, non-motor vehicles and lanes based on RGB-D images. Among them, the detection of vehicles, people and non-motor vehicles belongs to general detection task and the lane detection belongs to segmentation task. In order to improve the accuracy and speed, we use two networks to complete these two tasks. We propose a real-time synchronization method with multi-GPU, which achieves separate training and simultaneous detection of lane detectior and vehicle, people and non-motor vehicle detector. We also propose a center-selective ranging module based on binocular ranging technology to distance the detected object. The system reaches nearly 15 FPS with four 1080Ti GPUs. We construct datasets about these problems including daytime and night in which the system achieves high accuracy. A real-time test of the system on the streets of Tianjin, China has been conducted by us, it has proved that the system can be applied to actual driving.

Increasing driving safety by virtue of advanced technology requires real-time and accurate detection of vehicles in far and close distance, which pose a threat to the host vehicle. This paper presents a real-time on-road vehicle detection algorithm based on monocular vision. First, auto-adapted threshold segmentation is proposed to extract shadow features. Then, a special mask is used for morphology computing to retain the features of vehicles in far and close distance. And, vanishing point constraint is applied for the fast verification of vehicles. Finally, the tracking of vehicles assists to stabilize the detection results. The experiments show that the average processing speed reaches 39 frames/ms, and the fast detection of vehicle under different weather conditions in the day time can also work accurately.

The Vehicle detection is important for the enhancement of transportation systems and which is efficient for traffic management, improved road safety and accurate data collection by automatically identifying and tracking vehicles on roads which enables features like traffic signal optimization, speed measurement and accident detection ultimately contributing to a smoother and safer driving experience for everyone. Here we have built a real-time project which can detect car, bus, motorcycle and truck on the basis of algorithm called YOLOV8 (You Only Look Once Version 8). It is a computer vision technique which is renowned for its real-time object detection capabilities, providing optimal balance between speed and accuracy. The model is trained using PyTorch and leverages Convolutional Neural Network (CNN) for feature extraction.

Vehicle detection and tracking is a significant part in auxiliary vehicle driving system. Using the traditional detection method based on image information has encountered enormous difficulties, especially in complex background. To solve this problem, a detection method based on deep learning, Faster R-CNN, which has very high detection accuracy and flexibility, is introduced. An algorithm of target tracking with the combination of Camshift and Kalman filter is proposed for vehicle tracking. The computation time of Faster R-CNN cannot achieve realtime detection. We use multi-thread technique to detect and track vehicle by parallel computation for real-time application.