基于双流特征提取的车路协同感知方法

牛国臣, 孙翔宇, 苑峥岩

Vehicle-Road Collaborative Perception Method Based on Dual-Stream Feature Extraction

NIU Guochen, SUN Xiangyu, YUAN Zhengyan

表1 本文方法与其他特征提取网络的对比结果

Tab.1 Comparison results between method proposed and other feature extraction networks

网络 方法 AP30/% AP50/% AP70/% 模型大小/MB GFLOPs 轻量化单主干网络 MobileNetV2 59.54 53.19 34.25 3.5 0.3 FasterNet 63.10 57.25 38.75 7.6 0.85 YOLO-backbone 62.19 55.70 36.11 5.1 2.1 EfficientFormerv2 60.76 55.85 38.60 6.1 2.7 大规模单主干网络 ResNet 66.80 62.14 46.50 61.0 10.1 ConvNextv2 66.57 61.61 46.60 89.0 15.4 Swin-Transformer 71.17 66.36 52.44 88.0 15.4 车路双流主干网络 本文方法 72.35 67.67 53.74 车端,8.1 路端,88 车端,1.1 路端,15.8