Lightweight Hardware Architecture for Object Detection in Driver Assistance Systems

Abstract

Object detection on hardware platforms plays a very significant role in developing driver assistance systems (DASs) with limited computational resources. Object detection for DAS is a multiclass detection problem that involves detecting various objects like cars, auto, traffic lights, bicycles, pedestrians, etc. DAS also requires accuracy, speed, and sensitivity for detecting these objects in various challenging conditions. The lighting and weather conditions pose a serious challenge for accurate object detection for DAS. This paper proposes a speed-efficient and lightweight fully convolutional neural network (CNN) architecture for object detection in adverse rainy conditions. The proposed architecture uses a CNN-based deraining network with a custom SSIM loss function in the object detection pipeline, which can give an accurate performance using limited computational and memory resources. The object detection architecture contains some architectural modifications to the existing single shot multibox detector (SSD) architecture to make it more hardware efficient and improve accuracy on small objects. It uses a trainable color transformation module using [Formula: see text] convolutions for handling the adverse lighting conditions encountered in DAS. The architecture uses feature fusion and the dilated convolution approach to enhance the accuracy of the proposed architecture on small objects. The datasets available for object detection in DAS are very imbalanced with cars as a predominant object. The class weight penalization technique is used to improve the performance of the architecture on scarcely present objects. The performance of the architecture is evaluated on well-known datasets like Kitti, Udacity, Indian Driving Dataset (IDD), and DAWN. The architecture achieves satisfactory performance in terms of mean average precision (mAP) and detection time on all these datasets. It requires three times fewer hardware resources compared to existing architectures. The lightweight nature of the proposed architecture and modification of CNN architecture with TensorRT allow the efficient implementation on the jetson nanohardware platform for prototyping, which can be integrated with other intelligent transportation systems.