{"id":"https://openalex.org/W4200482183","doi":"https://doi.org/10.1155/2021/9218137","title":"A Real\u2010Time Object Detector for Autonomous Vehicles Based on YOLOv4","display_name":"A Real\u2010Time Object Detector for Autonomous Vehicles Based on YOLOv4","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W4200482183","doi":"https://doi.org/10.1155/2021/9218137","pmid":"https://pubmed.ncbi.nlm.nih.gov/34925498"},"language":"en","primary_location":{"id":"doi:10.1155/2021/9218137","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9218137","pdf_url":"https://downloads.hindawi.com/journals/cin/2021/9218137.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/cin/2021/9218137.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100431210","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0002-2045-4582"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077741402","display_name":"Ziyue Wang","orcid":"https://orcid.org/0000-0002-2448-8659"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyue Wang","raw_affiliation_strings":["Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052427501","display_name":"Zhengwei Xu","orcid":"https://orcid.org/0000-0001-9349-5724"},"institutions":[{"id":"https://openalex.org/I31595395","display_name":"Chengdu University of Technology","ror":"https://ror.org/05pejbw21","country_code":"CN","type":"education","lineage":["https://openalex.org/I31595395"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhengwei Xu","raw_affiliation_strings":["Chengdu University of Technology, Department of Geophysics, Chengdu, Sichuan 610059, China","Chengdu University of Technology, Department of Geophysics, Chengdu, Sichuan 610059"],"affiliations":[{"raw_affiliation_string":"Chengdu University of Technology, Department of Geophysics, Chengdu, Sichuan 610059, China","institution_ids":["https://openalex.org/I31595395"]},{"raw_affiliation_string":"Chengdu University of Technology, Department of Geophysics, Chengdu, Sichuan 610059","institution_ids":["https://openalex.org/I31595395"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342213","display_name":"Chi Wang","orcid":"https://orcid.org/0000-0002-4751-8187"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Wang","raw_affiliation_strings":["Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036107375","display_name":"Qiang Li","orcid":"https://orcid.org/0000-0003-1951-8144"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Li","raw_affiliation_strings":["Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398033","display_name":"Yuxin Zhang","orcid":"https://orcid.org/0000-0002-7636-4084"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxin Zhang","raw_affiliation_strings":["Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022","institution_ids":["https://openalex.org/I106645853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100344257","display_name":"Hua Li","orcid":"https://orcid.org/0000-0003-1903-836X"},"institutions":[{"id":"https://openalex.org/I106645853","display_name":"Changchun University of Science and Technology","ror":"https://ror.org/007mntk44","country_code":"CN","type":"education","lineage":["https://openalex.org/I106645853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Li","raw_affiliation_strings":["Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022"],"affiliations":[{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022, China","institution_ids":["https://openalex.org/I106645853"]},{"raw_affiliation_string":"Changchun University of Science and Technology, School of Compute Science and Technology, Changchun, Jilin 130022","institution_ids":["https://openalex.org/I106645853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5052427501"],"corresponding_institution_ids":["https://openalex.org/I31595395"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":3.4967,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.94173282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"2021","issue":"1","first_page":"9218137","last_page":"9218137"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.977400004863739,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9725000262260437,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7435621023178101},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.6006765961647034},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5516709089279175},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4928624629974365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4184873402118683},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3413275480270386},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1644459366798401}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7435621023178101},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.6006765961647034},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5516709089279175},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4928624629974365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4184873402118683},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3413275480270386},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1644459366798401}],"mesh":[{"descriptor_ui":"D000088684","descriptor_name":"Autonomous Vehicles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000088684","descriptor_name":"Autonomous Vehicles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000088684","descriptor_name":"Autonomous Vehicles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":4,"locations":[{"id":"doi:10.1155/2021/9218137","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9218137","pdf_url":"https://downloads.hindawi.com/journals/cin/2021/9218137.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},{"id":"pmid:34925498","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34925498","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational intelligence and neuroscience","raw_type":null},{"id":"pmh:oai:doaj.org/article:61e61dee98284fe08d588027e5f0ec9f","is_oa":true,"landing_page_url":"https://doaj.org/article/61e61dee98284fe08d588027e5f0ec9f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computational Intelligence and Neuroscience, Vol 2021 (2021)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:8683201","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8683201","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Comput Intell Neurosci","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1155/2021/9218137","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9218137","pdf_url":"https://downloads.hindawi.com/journals/cin/2021/9218137.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G784127087","display_name":null,"funder_award_id":"20200201053JC","funder_id":"https://openalex.org/F4320310121","funder_display_name":"Natural Science Foundation of Jilin Province"}],"funders":[{"id":"https://openalex.org/F4320310121","display_name":"Natural Science Foundation of Jilin Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200482183.pdf","grobid_xml":"https://content.openalex.org/works/W4200482183.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W60927318","https://openalex.org/W1536680647","https://openalex.org/W1861492603","https://openalex.org/W2053869519","https://openalex.org/W2102605133","https://openalex.org/W2109255472","https://openalex.org/W2150066425","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2490270993","https://openalex.org/W2565639579","https://openalex.org/W2752782242","https://openalex.org/W2795812085","https://openalex.org/W2884585870","https://openalex.org/W2893538180","https://openalex.org/W2946095264","https://openalex.org/W2963087201","https://openalex.org/W2963604034","https://openalex.org/W2963786238","https://openalex.org/W2963857746","https://openalex.org/W2981958729","https://openalex.org/W2997747012","https://openalex.org/W3010798236","https://openalex.org/W3034971973","https://openalex.org/W3042011474","https://openalex.org/W3106250896","https://openalex.org/W3115142864","https://openalex.org/W3129177437","https://openalex.org/W3135204376","https://openalex.org/W3135934332","https://openalex.org/W3137234345","https://openalex.org/W3177052299"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Object":[0],"detection":[1,23,41,57,65,171],"is":[2,31,42,173,182],"an":[3],"important":[4],"part":[5],"of":[6,15,24,40,73,80,85,89,103,128,179,196],"autonomous":[7],"driving":[8],"technology.":[9],"To":[10],"ensure":[11],"the":[12,26,29,36,64,74,77,81,90,93,96,100,104,109,117,125,129,132,139,144,150,156,170,176],"safe":[13],"running":[14],"vehicles":[16],"at":[17,193],"high":[18],"speed,":[19],"real-time":[20,69],"and":[21,38,67,113,119,122,142,164,186],"accurate":[22],"all":[25],"objects":[27],"on":[28,60,159],"road":[30],"required.":[32],"How":[33],"to":[34,116,131,137],"balance":[35],"speed":[37,178,195],"accuracy":[39,66,158,172],"a":[43,54,194],"hot":[44],"research":[45],"topic":[46],"in":[47,152,190],"recent":[48],"years.":[49],"This":[50],"paper":[51,154],"puts":[52],"forward":[53],"one-stage":[55],"object":[56],"algorithm":[58,75,91,151,181],"based":[59],"YOLOv4,":[61,149],"which":[62],"improves":[63,99,155],"supports":[68],"operation.":[70],"The":[71,87],"backbone":[72,118],"doubles":[76],"stacking":[78],"times":[79],"last":[82],"residual":[83],"block":[84],"CSPDarkNet53.":[86],"neck":[88,120],"replaces":[92],"SPP":[94],"with":[95,148],"RFB":[97],"structure,":[98,121],"PAN":[101],"structure":[102,115],"feature":[105],"fusion":[106],"module,":[107],"adds":[108],"attention":[110],"mechanism":[111],"CBAM":[112],"CA":[114],"finally":[123],"reduces":[124],"overall":[126],"width":[127],"network":[130],"original":[133],"3/4,":[134],"so":[135],"as":[136],"reduce":[138],"model":[140],"parameters":[141],"improve":[143],"inference":[145,177],"speed.":[146],"Compared":[147],"this":[153,180],"average":[157],"KITTI":[160],"dataset":[161,166],"by":[162,167,184],"2.06%":[163],"BDD":[165],"2.95%.":[168],"When":[169],"almost":[174],"unchanged,":[175],"increased":[183],"9.14%,":[185],"it":[187],"can":[188],"detect":[189],"real":[191],"time":[192],"more":[197],"than":[198],"58.47":[199],"FPS.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}