An enhanced feature pyramid object detection network for autonomous driving

Yutian Wu*, Shuming Tang, Shuwei Zhang, Harutoshi Ogai

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)


Feature Pyramid Network (FPN) builds a high-level semantic feature pyramid and detects objects of different scales in corresponding pyramid levels. Usually, features within the same pyramid levels have the same weight for subsequent object detection, which ignores the feature requirements of different scale objects. As we know, for most detection networks, it is hard to detect small objects and occluded objects because there is little information to exploit. To solve the above problems, we propose an Enhanced Feature Pyramid Object Detection Network (EFPN), which innovatively constructs an enhanced feature extraction subnet and adaptive parallel detection subnet. Enhanced feature extraction subnet introduces Feature Weight Module (FWM) to enhance pyramid features by weighting the fusion feature map. Adaptive parallel detection subnet introduces Adaptive Context Expansion (ACE) and Parallel Detection Branch (PDB). ACE aims to generate the features of adaptively enlarged object context region and original region. PDB predicts classification and regression results separately with the two features. Experiments showed that EFPN outperforms FPN in detection accuracy on Pascal VOC and KITTI datasets. Furthermore, the performance of EFPN meets the real-time requirements of autonomous driving systems.

Original languageEnglish
Article number4363
JournalApplied Sciences (Switzerland)
Issue number20
Publication statusPublished - 2019 Oct 1


  • Augmented reality
  • Autonomous driving systems
  • Context embedding
  • Feature pyramid network
  • Feature recalibration
  • Object detection

ASJC Scopus subject areas

  • General Materials Science
  • Instrumentation
  • General Engineering
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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