{"id":"https://openalex.org/W4410601011","doi":"https://doi.org/10.3390/a18060300","title":"Road Obstacle Detection Method Based on Improved YOLOv5","display_name":"Road Obstacle Detection Method Based on Improved YOLOv5","publication_year":2025,"publication_date":"2025-05-22","ids":{"openalex":"https://openalex.org/W4410601011","doi":"https://doi.org/10.3390/a18060300"},"language":"en","primary_location":{"id":"doi:10.3390/a18060300","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18060300","pdf_url":"https://www.mdpi.com/1999-4893/18/6/300/pdf?version=1747910820","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/18/6/300/pdf?version=1747910820","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058604730","display_name":"Pengliu Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I927504317","display_name":"Nanchang Hangkong University","ror":"https://ror.org/0369pvp92","country_code":"CN","type":"education","lineage":["https://openalex.org/I927504317"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pengliu Tan","raw_affiliation_strings":["School of Software, Nanchang Hangkong University, Nanchang 330063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Nanchang Hangkong University, Nanchang 330063, China","institution_ids":["https://openalex.org/I927504317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101713364","display_name":"Zhi Wang","orcid":"https://orcid.org/0009-0008-6343-7601"},"institutions":[{"id":"https://openalex.org/I927504317","display_name":"Nanchang Hangkong University","ror":"https://ror.org/0369pvp92","country_code":"CN","type":"education","lineage":["https://openalex.org/I927504317"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Wang","raw_affiliation_strings":["School of Software, Nanchang Hangkong University, Nanchang 330063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Nanchang Hangkong University, Nanchang 330063, China","institution_ids":["https://openalex.org/I927504317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088042613","display_name":"Xin Chang","orcid":"https://orcid.org/0000-0002-4375-3622"},"institutions":[{"id":"https://openalex.org/I927504317","display_name":"Nanchang Hangkong University","ror":"https://ror.org/0369pvp92","country_code":"CN","type":"education","lineage":["https://openalex.org/I927504317"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Chang","raw_affiliation_strings":["School of Software, Nanchang Hangkong University, Nanchang 330063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Nanchang Hangkong University, Nanchang 330063, China","institution_ids":["https://openalex.org/I927504317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5058604730"],"corresponding_institution_ids":["https://openalex.org/I927504317"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":2.8077,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.90964866,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"18","issue":"6","first_page":"300","last_page":"300"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.996399998664856,"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":0.996399998664856,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12597","display_name":"Fire Detection and Safety Systems","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/obstacle","display_name":"Obstacle","score":0.7946059107780457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5465143322944641},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4401940703392029},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4294099807739258},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13141199946403503}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7946059107780457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5465143322944641},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4401940703392029},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4294099807739258},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13141199946403503},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a18060300","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18060300","pdf_url":"https://www.mdpi.com/1999-4893/18/6/300/pdf?version=1747910820","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:835498852b01448397609afb56d3ac4c","is_oa":true,"landing_page_url":"https://doaj.org/article/835498852b01448397609afb56d3ac4c","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":"Algorithms, Vol 18, Iss 6, p 300 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a18060300","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18060300","pdf_url":"https://www.mdpi.com/1999-4893/18/6/300/pdf?version=1747910820","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4410601011.pdf","grobid_xml":"https://content.openalex.org/works/W4410601011.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2088049833","https://openalex.org/W2109255472","https://openalex.org/W2531409750","https://openalex.org/W2565639579","https://openalex.org/W2570343428","https://openalex.org/W2884585870","https://openalex.org/W2963037989","https://openalex.org/W2963420686","https://openalex.org/W2963857746","https://openalex.org/W3034552520","https://openalex.org/W3042011474","https://openalex.org/W3177052299","https://openalex.org/W4200181649","https://openalex.org/W4200459547","https://openalex.org/W4205538465","https://openalex.org/W4212869858","https://openalex.org/W4214723909","https://openalex.org/W4225323863","https://openalex.org/W4281550906","https://openalex.org/W4372347372","https://openalex.org/W4386934703","https://openalex.org/W4390724123","https://openalex.org/W4391991968","https://openalex.org/W4398756379","https://openalex.org/W4402474887","https://openalex.org/W4405304962","https://openalex.org/W4407425419","https://openalex.org/W4408052264","https://openalex.org/W4408093984","https://openalex.org/W6808121269","https://openalex.org/W6877514812"],"related_works":["https://openalex.org/W2126807813","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"],"abstract_inverted_index":{"Road":[0],"obstacle":[1,22,40,143],"detection":[2,23,41],"is":[3,47,57,81],"essential":[4],"for":[5,137],"ensuring":[6],"the":[7,14,64,74,78,84,89,105,110,119,138],"smooth":[8],"operation":[9],"of":[10,18,92,141],"roads":[11],"and":[12,16,31,72,95,118],"safeguarding":[13],"lives":[15],"property":[17],"travelers.":[19],"However,":[20],"current":[21],"methods":[24],"face":[25],"challenges":[26],"such":[27],"as":[28],"missed":[29],"detections":[30],"false":[32],"positives.":[33],"To":[34],"address":[35],"these":[36],"issues,":[37],"an":[38,50],"enhanced":[39],"algorithm":[42],"based":[43],"on":[44,104],"YOLOv5":[45],"(YOLOv5-EC3F)":[46],"proposed.":[48],"First,":[49],"effective":[51],"multi-scale":[52,61,98],"feature":[53,66],"fusion":[54],"module":[55,80,86],"(EMFF)":[56],"introduced":[58],"to":[59,87,116,125],"extract":[60],"features":[62],"from":[63],"input":[65],"map,":[67],"providing":[68],"richer":[69],"semantic":[70],"information":[71,94],"enhancing":[73],"perceptual":[75],"range.":[76],"Second,":[77],"SPPF":[79],"replaced":[82],"with":[83],"C3SPPF":[85],"improve":[88],"model\u2019s":[90],"understanding":[91],"contextual":[93],"increase":[96],"its":[97],"adaptability.":[99],"Experimental":[100],"results":[101],"demonstrate":[102],"that,":[103],"custom":[106],"dataset,":[107],"YOLOv5-EC3F":[108],"raises":[109],"mAP":[111],"by":[112,121],"3":[113],"percentage":[114,123],"points":[115,124],"82%":[117],"recall":[120],"7":[122],"78%,":[126],"without":[127],"compromising":[128],"precision.":[129],"This":[130],"study":[131],"offers":[132],"a":[133],"valuable":[134],"optimization":[135],"strategy":[136],"practical":[139],"application":[140],"road":[142],"detection.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}