{"id":"https://openalex.org/W4396557518","doi":"https://doi.org/10.3389/fnbot.2024.1342126","title":"Improved object detection method for unmanned driving based on Transformers","display_name":"Improved object detection method for unmanned driving based on Transformers","publication_year":2024,"publication_date":"2024-05-01","ids":{"openalex":"https://openalex.org/W4396557518","doi":"https://doi.org/10.3389/fnbot.2024.1342126","pmid":"https://pubmed.ncbi.nlm.nih.gov/38752022"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2024.1342126","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1342126","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1342126/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1342126/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112393467","display_name":"Huaqi Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I151893264","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55","country_code":"CN","type":"education","lineage":["https://openalex.org/I151893264"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaqi Zhao","raw_affiliation_strings":["The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China","institution_ids":["https://openalex.org/I151893264"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100692220","display_name":"Xiang Peng","orcid":"https://orcid.org/0000-0002-5754-0521"},"institutions":[{"id":"https://openalex.org/I151893264","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55","country_code":"CN","type":"education","lineage":["https://openalex.org/I151893264"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Peng","raw_affiliation_strings":["The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China","institution_ids":["https://openalex.org/I151893264"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100463046","display_name":"Su Wang","orcid":"https://orcid.org/0000-0001-7094-8890"},"institutions":[{"id":"https://openalex.org/I151893264","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55","country_code":"CN","type":"education","lineage":["https://openalex.org/I151893264"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Su Wang","raw_affiliation_strings":["The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China","institution_ids":["https://openalex.org/I151893264"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050960882","display_name":"Junbao Li","orcid":"https://orcid.org/0000-0003-3988-3675"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun-Bao Li","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019810689","display_name":"Jeng\u2010Shyang Pan","orcid":"https://orcid.org/0000-0002-3128-9025"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jeng-Shyang Pan","raw_affiliation_strings":["School of Artificial Intelligence, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091023673","display_name":"Xiaoguang Su","orcid":"https://orcid.org/0009-0005-8467-2342"},"institutions":[{"id":"https://openalex.org/I151893264","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55","country_code":"CN","type":"education","lineage":["https://openalex.org/I151893264"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoguang Su","raw_affiliation_strings":["The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China","institution_ids":["https://openalex.org/I151893264"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100768229","display_name":"Xiaomin Liu","orcid":"https://orcid.org/0000-0002-5982-4392"},"institutions":[{"id":"https://openalex.org/I151893264","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55","country_code":"CN","type":"education","lineage":["https://openalex.org/I151893264"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaomin Liu","raw_affiliation_strings":["The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Heilongjiang Provincial Key Laboratory of Autonomous Intelligence and Information Processing, School of Information and Electronic Technology, Jiamusi University, Jiamusi, China","institution_ids":["https://openalex.org/I151893264"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100768229"],"corresponding_institution_ids":["https://openalex.org/I151893264"],"apc_list":{"value":3295,"currency":"USD","value_usd":3295},"apc_paid":{"value":3295,"currency":"USD","value_usd":3295},"fwci":1.941,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.86663369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"18","issue":null,"first_page":"1342126","last_page":"1342126"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9973999857902527,"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":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8664909601211548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6556670069694519},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6305865049362183},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5438857078552246},{"id":"https://openalex.org/keywords/false-positive-paradox","display_name":"False positive paradox","score":0.4670117497444153},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4626598656177521},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4199141561985016},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4157123863697052},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.08109045028686523}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8664909601211548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6556670069694519},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6305865049362183},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5438857078552246},{"id":"https://openalex.org/C64869954","wikidata":"https://www.wikidata.org/wiki/Q1859747","display_name":"False positive paradox","level":2,"score":0.4670117497444153},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4626598656177521},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4199141561985016},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4157123863697052},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.08109045028686523},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2024.1342126","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1342126","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1342126/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmid:38752022","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38752022","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":"Frontiers in neurorobotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11094364","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11094364","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11094364/pdf/fnbot-18-1342126.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"Front Neurorobot","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:8210ff45e2af438cb3c6361ab86b8bfe","is_oa":true,"landing_page_url":"https://doaj.org/article/8210ff45e2af438cb3c6361ab86b8bfe","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 18 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2024.1342126","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1342126","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1342126/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2377107923","display_name":null,"funder_award_id":"6227 010741","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6292657879","display_name":null,"funder_award_id":"LH2022E114","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322217","display_name":"Department of Education, Heilongjiang Province","ror":"https://ror.org/04rn1rm44"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null},{"id":"https://openalex.org/F4320328727","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4396557518.pdf"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1861492603","https://openalex.org/W2115579991","https://openalex.org/W2193145675","https://openalex.org/W2956268511","https://openalex.org/W3094502228","https://openalex.org/W3106250896","https://openalex.org/W3107867277","https://openalex.org/W3122239467","https://openalex.org/W3175515048","https://openalex.org/W3184439416","https://openalex.org/W4221146106","https://openalex.org/W4226013992","https://openalex.org/W4226412070","https://openalex.org/W4239510810","https://openalex.org/W4242177601","https://openalex.org/W4301409532","https://openalex.org/W4315750567","https://openalex.org/W4382173641","https://openalex.org/W4386076079","https://openalex.org/W4387872955","https://openalex.org/W4390889787","https://openalex.org/W6628973269","https://openalex.org/W6675026286","https://openalex.org/W6683411478","https://openalex.org/W6742348326","https://openalex.org/W6743731764","https://openalex.org/W6760640297","https://openalex.org/W6764024669","https://openalex.org/W6767728961","https://openalex.org/W6768952390","https://openalex.org/W6770944320","https://openalex.org/W6771941581","https://openalex.org/W6778485988","https://openalex.org/W6779369453","https://openalex.org/W6786850268","https://openalex.org/W6787826751","https://openalex.org/W6788404544","https://openalex.org/W6790555728","https://openalex.org/W6792155083","https://openalex.org/W6793423509","https://openalex.org/W6801230688","https://openalex.org/W6803677459","https://openalex.org/W6809665980","https://openalex.org/W6849520326","https://openalex.org/W6851020903","https://openalex.org/W6851864227"],"related_works":["https://openalex.org/W2601157893","https://openalex.org/W2131735617","https://openalex.org/W2373006798","https://openalex.org/W2056912418","https://openalex.org/W2123759770","https://openalex.org/W2033213769","https://openalex.org/W4312376745","https://openalex.org/W2136016640","https://openalex.org/W2082269393","https://openalex.org/W2043960970"],"abstract_inverted_index":{"The":[0],"object":[1,28,44,70],"detection":[2,29,71],"method":[3,72,89,110,134,174],"serves":[4],"as":[5],"the":[6,10,98,121,145,155,172,185],"core":[7],"technology":[8],"within":[9],"unmanned":[11,37,74],"driving":[12,38],"perception":[13],"module,":[14],"extensively":[15],"employed":[16,118],"for":[17,73],"detecting":[18,49],"vehicles,":[19],"pedestrians,":[20],"traffic":[21],"signs,":[22],"and":[23,52,57,138,150],"various":[24],"objects.":[25,129],"However,":[26],"existing":[27,186],"methods":[30],"still":[31],"encounter":[32],"three":[33],"challenges":[34],"in":[35,42,48,60,101,124],"intricate":[36],"scenarios:":[39],"unsatisfactory":[40],"performance":[41],"multi-scale":[43,85],"detection,":[45],"inadequate":[46],"accuracy":[47],"small":[50,128],"objects,":[51],"occurrences":[53],"of":[54,127,184],"false":[55],"positives":[56],"missed":[58],"detections":[59],"densely":[61],"occluded":[62],"environments.":[63],"Therefore,":[64],"this":[65],"study":[66],"proposes":[67],"an":[68],"improved":[69],"driving,":[75],"leveraging":[76],"Transformer":[77,86],"architecture":[78],"to":[79,96,119,143],"address":[80],"these":[81],"challenges.":[82],"First,":[83],"a":[84,108,131],"feature":[87],"extraction":[88],"integrated":[90],"with":[91,114,157],"channel":[92],"attention":[93],"is":[94],"used":[95,142],"enhance":[97,120],"network's":[99,122],"capability":[100],"extracting":[102],"features":[103],"across":[104],"different":[105],"scales.":[106],"Second,":[107],"training":[109],"incorporating":[111],"Query":[112],"Denoising":[113],"Gaussian":[115],"decay":[116],"was":[117,141],"proficiency":[123],"learning":[125],"representations":[126],"Third,":[130],"hybrid":[132],"matching":[133,146],"combining":[135],"Optimal":[136],"Transport":[137],"Hungarian":[139],"algorithms":[140],"facilitate":[144],"process":[147],"between":[148],"predicted":[149],"actual":[151],"values,":[152],"thereby":[153],"enriching":[154],"network":[156],"more":[158],"informative":[159],"positive":[160],"sample":[161],"features.":[162],"Experimental":[163],"evaluations":[164],"conducted":[165],"on":[166],"datasets":[167],"including":[168],"KITTI":[169],"demonstrate":[170],"that":[171,183],"proposed":[173],"achieves":[175],"3%":[176],"higher":[177],"mean":[178],"Average":[179],"Precision":[180],"(mAP)":[181],"than":[182],"methodologies.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}