# FSSD: Feature Fusion Single Shot Multibox Detector

arXiv: https://arxiv.org/abs/1712.00960 · HTML: https://mlsanity.com/paper/1712.00960/

## Key facts

- Cited by 43 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Dec 2017.

## Built on by (most cited first, 30 of 43)

- [FAIR1M: A Benchmark Dataset for Fine-grained Object Recognition in High-Resolution Remote Sensing Imagery](https://mlsanity.com/paper/2103.05569/) (2021)
- [Dynamic Slimmable Network](https://mlsanity.com/paper/2103.13258/) (2021)
- [NeRF-RPN: A general framework for object detection in NeRFs](https://mlsanity.com/paper/2211.11646/) (2022)
- [BigDetection: A Large-scale Benchmark for Improved Object Detector Pre-training](https://mlsanity.com/paper/2203.13249/) (2022)
- [FGAHOI: Fine-Grained Anchors for Human-Object Interaction Detection](https://mlsanity.com/paper/2301.04019/) (2023)
- [Smart at what cost? Characterising Mobile Deep Neural Networks in the wild](https://mlsanity.com/paper/2109.13963/) (2021)
- [Towards Unbiased Multi-label Zero-Shot Learning with Pyramid and Semantic Attention](https://mlsanity.com/paper/2203.03483/) (2022)
- [Asynchronous Trajectory Matching-Based Multimodal Maritime Data Fusion for Vessel Traffic Surveillance in Inland Waterways](https://mlsanity.com/paper/2302.11283/) (2023)
- [A State-of-the-art Survey of Object Detection Techniques in Microorganism Image Analysis: From Classical Methods to Deep Learning Approaches](https://mlsanity.com/paper/2105.03148/) (2021)
- [AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration](https://mlsanity.com/paper/2112.01740/) (2021)
- [Dynamic Enhancement Network for Partial Multi-modality Person Re-identification](https://mlsanity.com/paper/2305.15762/) (2023)
- [AirShot: Efficient Few-Shot Detection for Autonomous Exploration](https://mlsanity.com/paper/2404.05069/) (2024)
- [AO-DETR: Anti-Overlapping DETR for X-Ray Prohibited Items Detection](https://mlsanity.com/paper/2403.04309/) (2024)
- [A Comprehensive Approach for UAV Small Object Detection with Simulation-based Transfer Learning and Adaptive Fusion](https://mlsanity.com/paper/2109.01800/) (2021)
- [Enhanced Self-Checkout System for Retail Based on Improved YOLOv10](https://mlsanity.com/paper/2407.21308/) (2024)
- [DS-Net++: Dynamic Weight Slicing for Efficient Inference in CNNs and Transformers](https://mlsanity.com/paper/2109.10060/) (2021)
- [Deep Joint Source-Channel Coding for Multi-Task Network](https://mlsanity.com/paper/2109.05779/) (2021)
- [Rethinking Features-Fused-Pyramid-Neck for Object Detection](https://mlsanity.com/paper/2505.12820/) (2025)
- [Robust Environment Perception for Automated Driving: A Unified Learning Pipeline for Visual-Infrared Object Detection](https://mlsanity.com/paper/2206.03943/) (2022)
- [Edge AI-Enabled Chicken Health Detection Based on Enhanced FCOS-Lite and Knowledge Distillation](https://mlsanity.com/paper/2407.09562/) (2024)
- [Attacking Important Pixels for Anchor-free Detectors](https://mlsanity.com/paper/2301.11457/) (2023)
- [Revisiting Table Detection Datasets for Visually Rich Documents](https://mlsanity.com/paper/2305.04833/) (2023)
- [Small Object Detection Based on Modified FSSD and Model Compression](https://mlsanity.com/paper/2108.10503/) (2021)
- [FFAVOD: Feature Fusion Architecture for Video Object Detection](https://mlsanity.com/paper/2109.07298/) (2021)
- [DiReDi: Distillation and Reverse Distillation for AIoT Applications](https://mlsanity.com/paper/2409.08308/) (2024)
- [Comparative Analysis of YOLOv5, Faster R-CNN, SSD, and RetinaNet for Motorbike Detection in Kigali Autonomous Driving Context](https://mlsanity.com/paper/2510.04912/) (2025)
- [Detecting Small Objects in Thermal Images Using Single-Shot Detector](https://mlsanity.com/paper/2108.11101/) (2021)
- [Deep Learning-Based Object Detection in Maritime Unmanned Aerial Vehicle Imagery: Review and Experimental Comparisons](https://mlsanity.com/paper/2311.07955/) (2023)
- [FMRFT: Fusion Mamba and DETR for Query Time Sequence Intersection Fish Tracking](https://mlsanity.com/paper/2409.01148/) (2024)
- [Improve Underwater Object Detection through YOLOv12 Architecture and Physics-informed Augmentation](https://mlsanity.com/paper/2506.23505/) (2025)

## Abstract (arXiv)

SSD (Single Shot Multibox Detector) is one of the best object detection algorithms with both high accuracy and fast speed. However, SSD's feature pyramid detection method makes it hard to fuse the features from different scales. In this paper, we proposed FSSD (Feature Fusion Single Shot Multibox Detector), an enhanced SSD with a novel and lightweight feature fusion module which can improve the performance significantly over SSD with just a little speed drop. In the feature fusion module, features from different layers with different scales are concatenated together, followed by some down-sampling blocks to generate new feature pyramid, which will be fed to multibox detectors to predict the final detection results. On the Pascal VOC 2007 test, our network can achieve 82.7 mAP (mean average precision) at the speed of 65.8 FPS (frame per second) with the input size 300×300 using a single Nvidia 1080Ti GPU. In addition, our result on COCO is also better than the conventional SSD with a large margin. Our FSSD outperforms a lot of state-of-the-art object detection algorithms in both aspects of accuracy and speed. Code is available at https://github.com/lzx1413/CAFFESSD/tree/fssd.