{"id":"https://openalex.org/W4406627150","doi":"https://doi.org/10.3389/fnbot.2024.1484276","title":"Improved object detection method for autonomous driving based on DETR","display_name":"Improved object detection method for autonomous driving based on DETR","publication_year":2025,"publication_date":"2025-01-20","ids":{"openalex":"https://openalex.org/W4406627150","doi":"https://doi.org/10.3389/fnbot.2024.1484276","pmid":"https://pubmed.ncbi.nlm.nih.gov/39902174"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2024.1484276","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1484276","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1484276/pdf","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/journals/neurorobotics/articles/10.3389/fnbot.2024.1484276/pdf","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/A5049835424","display_name":"S. Zhang","orcid":"https://orcid.org/0009-0001-3187-9332"},"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":"Songnan Zhang","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/A5071697078","display_name":"Zhengguang Lu","orcid":"https://orcid.org/0000-0001-9451-9919"},"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":"Zhengguang Lu","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/A5006496385","display_name":"Guojing Li","orcid":"https://orcid.org/0000-0001-7882-3523"},"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":"Guojing Li","raw_affiliation_strings":["School of Materials Science and Engineering, Jiamusi University, Jiamusi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Materials Science and Engineering, Jiamusi University, Jiamusi, China","institution_ids":["https://openalex.org/I151893264"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006496385"],"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":6.0037,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96609844,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"18","issue":null,"first_page":"1484276","last_page":"1484276"},"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9929999709129333,"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":0.9904999732971191,"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":0.8499155044555664},{"id":"https://openalex.org/keywords/hyperparameter","display_name":"Hyperparameter","score":0.699870765209198},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6232774257659912},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5700480341911316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5582922101020813},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.47887131571769714},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.46068671345710754},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4514141380786896},{"id":"https://openalex.org/keywords/pascal","display_name":"Pascal (unit)","score":0.45012497901916504},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4288041889667511},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.381893128156662},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34518182277679443},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14261576533317566},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09371700882911682}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8499155044555664},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.699870765209198},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6232774257659912},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5700480341911316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5582922101020813},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.47887131571769714},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.46068671345710754},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4514141380786896},{"id":"https://openalex.org/C75608658","wikidata":"https://www.wikidata.org/wiki/Q44395","display_name":"Pascal (unit)","level":2,"score":0.45012497901916504},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4288041889667511},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.381893128156662},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34518182277679443},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14261576533317566},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09371700882911682},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2024.1484276","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1484276","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1484276/pdf","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:39902174","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39902174","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:11788285","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11788285","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11788285/pdf/fnbot-18-1484276.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:003ac97d0f3f4f6fa76838e7f2a37565","is_oa":true,"landing_page_url":"https://doaj.org/article/003ac97d0f3f4f6fa76838e7f2a37565","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 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2024.1484276","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1484276","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1484276/pdf","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/G9043620","display_name":null,"funder_award_id":"DJXSTD202417","funder_id":"https://openalex.org/F4320328727","funder_display_name":"Jiamusi University"}],"funders":[{"id":"https://openalex.org/F4320322217","display_name":"Department of Education, Heilongjiang Province","ror":"https://ror.org/04rn1rm44"},{"id":"https://openalex.org/F4320328727","display_name":"Jiamusi University","ror":"https://ror.org/01vasff55"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406627150.pdf","grobid_xml":"https://content.openalex.org/works/W4406627150.grobid-xml"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1686810756","https://openalex.org/W1861492603","https://openalex.org/W2031489346","https://openalex.org/W2115579991","https://openalex.org/W2144506857","https://openalex.org/W2565639579","https://openalex.org/W2597507805","https://openalex.org/W2928165649","https://openalex.org/W2950673314","https://openalex.org/W2962766617","https://openalex.org/W2963037989","https://openalex.org/W2963323244","https://openalex.org/W2963446712","https://openalex.org/W2963677766","https://openalex.org/W2972510393","https://openalex.org/W3080237625","https://openalex.org/W3094502228","https://openalex.org/W3122239467","https://openalex.org/W3138516171","https://openalex.org/W3168101492","https://openalex.org/W3177052299","https://openalex.org/W3177103098","https://openalex.org/W3184439416","https://openalex.org/W3199093552","https://openalex.org/W3212623560","https://openalex.org/W3214133616","https://openalex.org/W4221146106","https://openalex.org/W4226013992","https://openalex.org/W4286910290","https://openalex.org/W4288791681","https://openalex.org/W4312312588","https://openalex.org/W4312452284","https://openalex.org/W4313007769","https://openalex.org/W4315750567","https://openalex.org/W4316843048","https://openalex.org/W4385245566","https://openalex.org/W4385342336","https://openalex.org/W4386076325","https://openalex.org/W4390873499","https://openalex.org/W4390873750","https://openalex.org/W4404524073","https://openalex.org/W4405219754","https://openalex.org/W6620707391","https://openalex.org/W6637373629","https://openalex.org/W6683411478","https://openalex.org/W6739901393","https://openalex.org/W6754005058","https://openalex.org/W6778485988","https://openalex.org/W6779345118","https://openalex.org/W6784094891","https://openalex.org/W6784333009","https://openalex.org/W6796237581","https://openalex.org/W6798838024","https://openalex.org/W6802648153","https://openalex.org/W6803865098","https://openalex.org/W6804370092","https://openalex.org/W6809665764","https://openalex.org/W6811230874","https://openalex.org/W6840563958","https://openalex.org/W6848712460","https://openalex.org/W6874739261"],"related_works":["https://openalex.org/W4376620596","https://openalex.org/W3177249605","https://openalex.org/W2534152068","https://openalex.org/W3138508047","https://openalex.org/W1972515067","https://openalex.org/W4293054914","https://openalex.org/W1689909837","https://openalex.org/W4298525700","https://openalex.org/W2953362004","https://openalex.org/W2549121492"],"abstract_inverted_index":{"Object":[0],"detection":[1,32,40],"is":[2],"a":[3,39,46,71,105],"critical":[4],"component":[5],"in":[6,88,159,175],"the":[7,21,56,59,76,89,99,118,122,147,163],"development":[8],"of":[9,23,58,121,154],"autonomous":[10,35],"driving":[11,36],"technology":[12],"and":[13,49,65,91,136,141,157,167,171],"has":[14],"demonstrated":[15],"significant":[16],"growth":[17],"potential.":[18],"To":[19],"address":[20],"limitations":[22],"current":[24],"techniques,":[25],"this":[26],"paper":[27],"presents":[28],"an":[29,172],"improved":[30],"object":[31,63],"method":[33,111,149],"for":[34,61,83],"based":[37,74,112],"on":[38,75,113,162],"transformer":[41,72],"(DETR).":[42],"First,":[43],"we":[44,69,103],"introduce":[45],"multi-scale":[47,62],"feature":[48],"location":[50],"information":[51],"extraction":[52],"method,":[53],"which":[54,116],"solves":[55],"inadequacy":[57],"model":[60,138],"localization":[64],"detection.":[66],"In":[67],"addition,":[68],"developed":[70],"encoder":[73],"group":[77],"axial":[78],"attention":[79,85],"mechanism.":[80],"This":[81],"allows":[82],"efficient":[84],"range":[86],"control":[87],"horizontal":[90],"vertical":[92],"directions":[93],"while":[94],"reducing":[95],"computation,":[96],"ultimately":[97],"enhancing":[98,137],"inference":[100],"speed.":[101],"Furthermore,":[102],"propose":[104],"novel":[106],"dynamic":[107,126],"hyperparameter":[108],"tuning":[109],"training":[110,119],"Pareto":[114],"efficiency,":[115],"coordinates":[117],"state":[120],"loss":[123],"functions":[124],"through":[125],"weights,":[127],"overcoming":[128],"issues":[129],"associated":[130],"with":[131,152],"manually":[132],"setting":[133],"fixed":[134],"weights":[135],"convergence":[139],"speed":[140],"accuracy.":[142],"Experimental":[143],"results":[144],"demonstrate":[145],"that":[146],"proposed":[148],"surpasses":[150],"others,":[151],"improvements":[153],"3.3%,":[155],"4.5%,":[156],"3%":[158],"average":[160],"precision":[161],"COCO,":[164],"PASCAL":[165],"VOC,":[166],"KITTI":[168],"datasets,":[169],"respectively,":[170],"84%":[173],"increase":[174],"FPS.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}