Confidence-aware object detection based on mobilenetv2 for autonomous driving

Abstract

Object detection is an indispensable part of autonomous driving. It is the basis of other high-level applications. For example, autonomous vehicles need to use the object detection results to navigate and avoid obstacles. In this paper, we propose a multi-scale MobileNeck module and an algorithm to improve the performance of an object detection model by outputting a series of Gaussian parameters. These Gaussian parameters can be used to predict both the locations of detected objects and the localization confidences. Based on the above two methods, a new confidence-aware Mobile Detection (MobileDet) model is proposed. The MobileNeck module and loss function are easy to conduct and integrate with Generalized-IoU (GIoU) metrics with slight changes in the code. We test the proposed model on the KITTI and VOC datasets. The mean Average Precision (mAP) is improved by 3.8 on the KITTI dataset and 2.9 on the VOC dataset with less resource consumption.