{"id":"https://openalex.org/W4389667423","doi":"https://doi.org/10.1109/iros55552.2023.10342139","title":"Understanding the Impact of Image Quality and Distance of Objects to Object Detection Performance","display_name":"Understanding the Impact of Image Quality and Distance of Objects to Object Detection Performance","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667423","doi":"https://doi.org/10.1109/iros55552.2023.10342139"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5100647393","display_name":"Hao Yu","orcid":"https://orcid.org/0000-0002-2111-6905"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["AE","US"],"is_corresponding":true,"raw_author_name":"Yu Hao","raw_affiliation_strings":["NYU Tandon and NYU Abu Dhabi,NYU Multimedia and Visual Computing Lab","NYU Multimedia and Visual Computing Lab, NYU Tandon and NYU Abu Dhabi","NYU Tandon School of Engineering, New York University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon and NYU Abu Dhabi,NYU Multimedia and Visual Computing Lab","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"NYU Multimedia and Visual Computing Lab, NYU Tandon and NYU Abu Dhabi","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070384396","display_name":"Haoyang Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haoyang Pei","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University,USA","NYU Tandon School of Engineering, New York University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085090465","display_name":"Yixuan Lyu","orcid":"https://orcid.org/0000-0001-7608-9150"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yixuan Lyu","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University,USA","NYU Tandon School of Engineering, New York University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025880467","display_name":"Zhongzheng Yuan","orcid":"https://orcid.org/0000-0003-2161-1241"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhongzheng Yuan","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University,USA","NYU Tandon School of Engineering, New York University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073829818","display_name":"John\u2010Ross Rizzo","orcid":"https://orcid.org/0000-0002-4084-0085"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]},{"id":"https://openalex.org/I4210092112","display_name":"Hinge Health","ror":"https://ror.org/00cztjn15","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210092112"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John-Ross Rizzo","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University,USA","NYU Tandon School of Engineering, New York University, USA","NYU Langone Health, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Langone Health, USA","institution_ids":["https://openalex.org/I4210092112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100319039","display_name":"Yao Wang","orcid":"https://orcid.org/0000-0003-3199-3802"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yao Wang","raw_affiliation_strings":["NYU Tandon School of Engineering, New York University,USA","NYU Tandon School of Engineering, New York University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083935587","display_name":"Yi Fang","orcid":"https://orcid.org/0000-0001-9427-3883"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["AE","US"],"is_corresponding":false,"raw_author_name":"Yi Fang","raw_affiliation_strings":["NYU Tandon and NYU Abu Dhabi,NYU Multimedia and Visual Computing Lab","NYUAD Center for Artificial Intelligence and Robotics, NYU Abu Dhabi, UAE","NYU Tandon School of Engineering, New York University, USA","NYU Multimedia and Visual Computing Lab, NYU Tandon and NYU Abu Dhabi"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NYU Tandon and NYU Abu Dhabi,NYU Multimedia and Visual Computing Lab","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"NYUAD Center for Artificial Intelligence and Robotics, NYU Abu Dhabi, UAE","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"NYU Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"NYU Multimedia and Visual Computing Lab, NYU Tandon and NYU Abu Dhabi","institution_ids":["https://openalex.org/I120250893"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100647393"],"corresponding_institution_ids":["https://openalex.org/I120250893","https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":3.8061,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.95015121,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"11436","last_page":"11442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"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":0.9973000288009644,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.8035430908203125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8029733896255493},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7732902765274048},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6991450786590576},{"id":"https://openalex.org/keywords/image-resolution","display_name":"Image resolution","score":0.581815242767334},{"id":"https://openalex.org/keywords/pyramid","display_name":"Pyramid (geometry)","score":0.4588819444179535},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42253977060317993},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41584187746047974},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3149142861366272},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09911128878593445}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8035430908203125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8029733896255493},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7732902765274048},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6991450786590576},{"id":"https://openalex.org/C205372480","wikidata":"https://www.wikidata.org/wiki/Q210521","display_name":"Image resolution","level":2,"score":0.581815242767334},{"id":"https://openalex.org/C142575187","wikidata":"https://www.wikidata.org/wiki/Q3358290","display_name":"Pyramid (geometry)","level":2,"score":0.4588819444179535},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42253977060317993},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41584187746047974},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3149142861366272},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09911128878593445},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/iros55552.2023.10342139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4933730698","display_name":null,"funder_award_id":"VR200130","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2102605133","https://openalex.org/W2108598243","https://openalex.org/W2193145675","https://openalex.org/W2963037989","https://openalex.org/W2963857746","https://openalex.org/W2986782335","https://openalex.org/W3035564946","https://openalex.org/W3096563782","https://openalex.org/W3106250896","https://openalex.org/W4293584584","https://openalex.org/W4321353455","https://openalex.org/W4376626209","https://openalex.org/W6750227808","https://openalex.org/W6891730065"],"related_works":["https://openalex.org/W4249847449","https://openalex.org/W44395729","https://openalex.org/W1496225612","https://openalex.org/W2765338038","https://openalex.org/W4386191828","https://openalex.org/W1566843515","https://openalex.org/W4292850564","https://openalex.org/W4206776094","https://openalex.org/W3121197456","https://openalex.org/W4292830139"],"abstract_inverted_index":{"Object":[0],"detection":[1,38,45,135,177,236,260,279,310,321,347],"is":[2,81],"a":[3,74,152,160,197,232,242,319],"fundamental":[4],"task":[5],"for":[6,25,77,145,328],"autonomous":[7],"driving,":[8],"which":[9,54,97,166],"aim":[10],"to":[11,73,276,305],"identify":[12],"and":[13,35,40,62,71,125,137,176,190,204,213,216,224,238,255,312,334],"localize":[14],"objects":[15],"within":[16],"an":[17,52,303],"image.":[18,187],"Deep":[19],"learning":[20],"has":[21],"made":[22],"great":[23],"strides":[24],"object":[26,44,78,112,131,134,259,304],"detection,":[27],"with":[28,201],"popular":[29],"models":[30,142],"including":[31],"Faster":[32],"R-CNN,":[33],"YOLO,":[34],"SSD.":[36],"The":[37],"accuracy":[39,104,136,237,261,280,311],"computational":[41,138],"cost":[42],"of":[43,51,96,110,113,123,155,163,170,184,199,245,253,299,302],"depend":[46],"on":[47,101,107,133,180,258,282,308,338],"the":[48,60,108,111,116,121,168,173,181,185,211,251,263,270,277,283,289,297,300,306,309,330],"spatial":[49,87,124,156,182,203,222,246,254,272,316,332],"resolution":[50,90,183,273,317,333],"image,":[53],"may":[55],"be":[56],"constrained":[57],"by":[58,84,207,220,288],"both":[59,95],"camera":[61,307],"storage":[63],"considerations.":[64],"Furthermore,":[65],"original":[66],"images":[67,150,200,209],"are":[68,143],"often":[69,82],"compressed":[70],"uploaded":[72],"remote":[75],"server":[76],"detection.":[79],"Compression":[80],"achieved":[83],"reducing":[85],"either":[86],"or":[88,292],"amplitude":[89,126,205,256],"or,":[91],"at":[92],"times,":[93],"both,":[94],"have":[98],"well-known":[99],"effects":[100],"performance.":[102],"Detection":[103],"also":[105],"depends":[106,281],"distance":[109,301],"interest":[114],"from":[115,210],"camera.":[117],"Our":[118],"work":[119],"examines":[120],"impact":[122,252,298],"resolution,":[127,157],"as":[128,130],"well":[129],"distance,":[132],"cost.":[139],"As":[140],"existing":[141],"optimized":[144],"uncompressed":[146],"(or":[147],"lightly":[148],"compressed)":[149],"over":[151,241],"narrow":[153],"range":[154,244],"we":[158,195],"develop":[159],"resolution-adaptive":[161],"variant":[162],"YOLOv5":[164],"(RA-YOLO),":[165],"varies":[167],"number":[169],"scales":[171],"in":[172,349],"feature":[174],"pyramid":[175],"head":[178],"based":[179],"input":[186],"To":[188],"train":[189],"evaluate":[191,250],"this":[192],"new":[193],"method,":[194],"created":[196],"dataset":[198],"diverse":[202],"resolutions":[206,219,257],"combining":[208],"TJU":[212],"Eurocity":[214],"datasets":[215],"generating":[217],"different":[218],"applying":[221],"resizing":[223],"compression.":[225],"We":[226,248,267,294],"first":[227],"show":[228,313],"that":[229,269,274,314],"RA-YOLO":[230,265],"achieves":[231],"good":[233],"trade-off":[234],"between":[235],"inference":[239,343],"time":[240],"large":[243],"resolutions.":[247],"then":[249],"using":[262],"proposed":[264],"model.":[266],"demonstrate":[268],"optimal":[271],"leads":[275],"highest":[278],"\u2018tolerated\u2019":[284],"image":[285,331],"size":[286],"(constrained":[287],"available":[290,339],"bandwidth":[291],"storage).":[293],"further":[295],"assess":[296],"higher":[315],"enables":[318],"greater":[320],"range.":[322],"These":[323],"results":[324],"provide":[325],"important":[326],"guidelines":[327],"choosing":[329],"compression":[335],"settings":[336],"predicated":[337],"bandwidth,":[340],"storage,":[341],"desired":[342,346],"time,":[344],"and/or":[345],"range,":[348],"practical":[350],"applications.":[351]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
