{"id":"https://openalex.org/W4385482848","doi":"https://doi.org/10.1109/ijcnn54540.2023.10191514","title":"RTOD-YOLO: Traffic Object Detection in UAV Images Based on Visual Attention and Re-parameterization","display_name":"RTOD-YOLO: Traffic Object Detection in UAV Images Based on Visual Attention and Re-parameterization","publication_year":2023,"publication_date":"2023-06-18","ids":{"openalex":"https://openalex.org/W4385482848","doi":"https://doi.org/10.1109/ijcnn54540.2023.10191514"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn54540.2023.10191514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn54540.2023.10191514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103234233","display_name":"Xuesen Ma","orcid":"https://orcid.org/0009-0008-2229-8596"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuesen Ma","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092581285","display_name":"Weixin Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weixin Wei","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China","School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101230029","display_name":"Jindian Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jindian Dong","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China","School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Biao Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Zheng","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"Intelligent Interconnected Systems Laboratory of Anhui Province, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026825791","display_name":"Ji Ma","orcid":"https://orcid.org/0000-0003-4418-2339"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Ma","raw_affiliation_strings":["School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology,Hefei,China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"School of Computer Science and Information Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.7850545644760132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7841563820838928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6876633763313293},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6805649995803833},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.6785518527030945},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5934838652610779},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.5609527230262756},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.5024616718292236},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.47992143034935},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.4552220106124878},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44667550921440125},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43504273891448975},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.29914557933807373},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2428693175315857},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08765336871147156}],"concepts":[{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.7850545644760132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7841563820838928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6876633763313293},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6805649995803833},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.6785518527030945},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5934838652610779},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.5609527230262756},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.5024616718292236},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.47992143034935},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.4552220106124878},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44667550921440125},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43504273891448975},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.29914557933807373},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2428693175315857},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08765336871147156},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn54540.2023.10191514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn54540.2023.10191514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8000769700","display_name":null,"funder_award_id":"2020YFC1512601","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2570343428","https://openalex.org/W2620983607","https://openalex.org/W2726120960","https://openalex.org/W2752782242","https://openalex.org/W2955058313","https://openalex.org/W2963037989","https://openalex.org/W2963091558","https://openalex.org/W2963351448","https://openalex.org/W2963844898","https://openalex.org/W2964241181","https://openalex.org/W2964444661","https://openalex.org/W2982770724","https://openalex.org/W2986357608","https://openalex.org/W2989604896","https://openalex.org/W2989611864","https://openalex.org/W3018757597","https://openalex.org/W3024843777","https://openalex.org/W3035396860","https://openalex.org/W3035694605","https://openalex.org/W3106250896","https://openalex.org/W3131169764","https://openalex.org/W3142917984","https://openalex.org/W3167976421","https://openalex.org/W3171038842","https://openalex.org/W3171660447","https://openalex.org/W3172087149","https://openalex.org/W3172752666","https://openalex.org/W3184439416","https://openalex.org/W3209499093","https://openalex.org/W3210586215","https://openalex.org/W4293584584","https://openalex.org/W4313167917","https://openalex.org/W6620707391","https://openalex.org/W6735463952","https://openalex.org/W6738686954","https://openalex.org/W6746264161","https://openalex.org/W6750227808","https://openalex.org/W6777046832","https://openalex.org/W6785652829","https://openalex.org/W6798838024"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W4287027631","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4,157],"widely":[5],"deployed":[6],"in":[7,15,34,45,51,79,174],"transportation.":[8],"Detection":[9],"of":[10,28,65,149,183,197],"traffic":[11,21,29],"objects":[12,33,50],"like":[13],"vehicles":[14],"UAV":[16,35],"images":[17,36],"is":[18,88,106,131,192],"helpful":[19],"for":[20,164],"monitoring,":[22],"urban":[23],"transport":[24],"planning,":[25],"and":[26,55,69,118,146,155,169],"estimation":[27],"flow.":[30],"However,":[31],"detecting":[32],"has":[37],"some":[38],"inevitable":[39],"problems,":[40],"such":[41],"as":[42],"large":[43],"changes":[44],"object":[46,85],"scale,":[47],"occlusion":[48],"between":[49],"dense":[52],"detection":[53,86,129],"scenes,":[54],"interference":[56,121],"caused":[57,122],"by":[58,123,133],"complex":[59,124],"backgrounds.":[60,125],"To":[61],"reduce":[62,119],"the":[63,66,92,100,115,120,127,134,142,150,161,181,188,198],"influence":[64],"above":[67],"factors":[68],"achieve":[70],"real-time":[71,204],"detection,":[72],"we":[73],"propose":[74],"RTOD-YOLO":[75,110,184],"based":[76],"on":[77,114,187],"YOLOv5s":[78],"this":[80],"study.":[81],"Firstly,":[82],"a":[83],"small":[84,97],"layer":[87],"added":[89],"to":[90,95,108,111,140,159],"improve":[91,141],"model's":[93],"performance":[94],"detect":[96],"objects.":[98],"Secondly,":[99],"Global":[101],"Context":[102],"Attention":[103],"Module":[104],"(GCAM)":[105],"introduced":[107,158],"enable":[109],"concentrate":[112],"more":[113],"target":[116],"itself":[117],"Thirdly,":[126],"YOLO":[128],"head":[130],"replaced":[132],"Shift":[135],"Double":[136],"Prediction":[137],"Head":[138],"(SDPH)":[139],"bounding":[143],"box":[144],"regression":[145],"classification":[147],"ability":[148],"proposed":[151],"model.":[152],"Finally,":[153],"RepBlock":[154],"CSPRepBottleneck":[156],"re-parameterize":[160],"model":[162],"structure,":[163],"improving":[165],"feature":[166],"extraction":[167],"capabilities":[168],"adequately":[170],"mining":[171],"semantic":[172],"information":[173],"images.":[175],"The":[176],"experimental":[177],"result":[178],"shows":[179],"that":[180,196],"mAP@0.5":[182],"reaches":[185],"44.6%":[186],"VisDrone":[189],"dataset,":[190],"which":[191],"10.7%":[193],"higher":[194],"than":[195],"baseline":[199],"YOLOv5s,":[200],"while":[201],"still":[202],"accommodating":[203],"detection.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}
