# Object Detection for Autonomous Dozers

arXiv: https://arxiv.org/abs/2208.08570 · HTML: https://mlsanity.com/paper/2208.08570/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 37 references that are in the map.
- First posted on arXiv 17 Aug 2022.

## Builds on (most cited first, 29 of 29)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [Rethinking the Inception Architecture for Computer Vision](https://mlsanity.com/paper/1512.00567/) (2015)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [Group Normalization](https://mlsanity.com/paper/1803.08494/) (2018)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [On Large-Batch Training for Deep Learning: Generalization Gap and Sharp Minima](https://mlsanity.com/paper/1609.04836/) (2016)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Instance Normalization: The Missing Ingredient for Fast Stylization](https://mlsanity.com/paper/1607.08022/) (2016)
- [An overview of gradient descent optimization algorithms](https://mlsanity.com/paper/1609.04747/) (2016)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [CornerNet: Detecting Objects as Paired Keypoints](https://mlsanity.com/paper/1808.01244/) (2018)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [Scaled-YOLOv4: Scaling Cross Stage Partial Network](https://mlsanity.com/paper/2011.08036/) (2020)
- [Speed/accuracy trade-offs for modern convolutional object detectors](https://mlsanity.com/paper/1611.10012/) (2016)
- [Dynamic R-CNN: Towards High Quality Object Detection via Dynamic Training](https://mlsanity.com/paper/2004.06002/) (2020)
- [Delving Deep into Label Smoothing](https://mlsanity.com/paper/2011.12562/) (2020)
- [DANNet: A One-Stage Domain Adaptation Network for Unsupervised Nighttime Semantic Segmentation](https://mlsanity.com/paper/2104.10834/) (2021)
- [SqueezeDet: Unified, Small, Low Power Fully Convolutional Neural Networks for Real-Time Object Detection for Autonomous Driving](https://mlsanity.com/paper/1612.01051/) (2016)
- [PseudoProp: Robust Pseudo-Label Generation for Semi-Supervised Object Detection in Autonomous Driving Systems](https://mlsanity.com/paper/2203.05983/) (2022)

## Built on by (most cited first, 1 of 1)

- [Instance-Aware Repeat Factor Sampling for Long-Tailed Object Detection](https://mlsanity.com/paper/2305.08069/) (2023)

## Abstract (arXiv)

We introduce a new type of autonomous vehicle - an autonomous dozer that is expected to complete construction site tasks in an efficient, robust, and safe manner. To better handle the path planning for the dozer and ensure construction site safety, object detection plays one of the most critical components among perception tasks. In this work, we first collect the construction site data by driving around our dozers. Then we analyze the data thoroughly to understand its distribution. Finally, two well-known object detection models are trained, and their performances are benchmarked with a wide range of training strategies and hyperparameters.