Multi-Scale Target Detection in Autonomous Driving Scenarios Based on YOLOv5-AFAM

Abstract

Multi-scale object detection is critically important in complex driving environments within the field of autonomous driving. To enhance the detection accuracy of both small-scale and large-scale targets in complex autonomous driving environments, this paper proposes an improved YOLOv5-AFAM algorithm. Firstly, the Adaptive Fusion Attention Module (AFAM) and Down-sampling Module (DownC) are introduced to increase the detection precision of small targets. Secondly, the Efficient Multi-scale Attention Module (EMA) is incorporated, enabling the model to simultaneously recognize small-scale and large-scale targets. Finally, a Minimum Point Distance IoU-based Loss Function (MPDIou-LOSS) is introduced to improve the accuracy and efficiency of object detection. Experimental validation on the KITTI dataset shows that, compared to the baseline model, the improved algorithm increased precision by 2.4%, recall by 2.6%, mAP50 by 1.5%, and mAP50-90 by an impressive 4.8%.