mlsanityData to 7 Oct 2026

Gold-YOLO: Efficient Object Detector via Gather-and-Distribute Mechanism

arXiv 2309.11331 ↗First posted 20 Sep 2023cs.CV cs.AIcited by 51

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Abstract (arXiv)

In the past years, YOLO-series models have emerged as the leading approaches in the area of real-time object detection. Many studies pushed up the baseline to a higher level by modifying the architecture, augmenting data and designing new losses. However, we find previous models still suffer from information fusion problem, although Feature Pyramid Network (FPN) and Path Aggregation Network (PANet) have alleviated this. Therefore, this study provides an advanced Gatherand-Distribute mechanism (GD) mechanism, which is realized with convolution and self-attention operations. This new designed model named as Gold-YOLO, which boosts the multi-scale feature fusion capabilities and achieves an ideal balance between latency and accuracy across all model scales. Additionally, we implement MAE-style pretraining in the YOLO-series for the first time, allowing YOLOseries models could be to benefit from unsupervised pretraining. Gold-YOLO-N attains an outstanding 39.9% AP on the COCO val2017 datasets and 1030 FPS on a T4 GPU, which outperforms the previous SOTA model YOLOv6-3.0-N with similar FPS by +2.4%. The PyTorch code is available at https://github.com/huawei-noah/Efficient-Computing/tree/master/Detection/Gold-YOLO, and the MindSpore code is available at https://gitee.com/mindspore/models/tree/master/research/cv/Gold_YOLO.

Key facts. Cited by 51 papers in the map (data through 7 Oct 2026). Builds on 55 of its 63 references that are in the map. First posted on arXiv 20 Sep 2023.

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55 of 63 references.

References · 55

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38 more
  1. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
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  3. 2021BEiT: BERT Pre-Training of Image Transformerscited by 2,360
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  5. 2019FCOS: Fully Convolutional One-Stage Object Detectioncited by 1,573
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  15. 2019CenterNet: Keypoint Triplets for Object Detectioncited by 654
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  18. 2023DETRs Beat YOLOs on Real-time Object Detectioncited by 526
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  20. 2019PANet: Few-Shot Image Semantic Segmentation with Prototype Alignmentcited by 449
  21. 2019GhostNet: More Features from Cheap Operationscited by 410
  22. 2021CMT: Convolutional Neural Networks Meet Vision Transformerscited by 310
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  24. 2022YOLOv6: A Single-Stage Object Detection Framework for Industrial Applicationscited by 273
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Citing papers per year: 2023: 1; 2024: 23; 2025: 20; 2026: 7.

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  1. 2024YOLOv10: Real-Time End-to-End Object Detectioncited by 508
  2. 2024YOLOv9: Learning What You Want to Learn Using Programmable Gradient Informationcited by 422
  3. 2025YOLOv12: Attention-Centric Real-Time Object Detectorscited by 300
  4. 2023One-for-All: Bridge the Gap Between Heterogeneous Architectures in Knowledge Distillationcited by 77
  5. 2024D-FINE: Redefine Regression Task in DETRs as Fine-grained Distribution Refinementcited by 73
  6. 2024DEIM: DETR with Improved Matching for Fast Convergencecited by 67
  7. 2025YOLOv13: Real-Time Object Detection with Hypergraph-Enhanced Adaptive Visual Perceptioncited by 57
  8. 2024LW-DETR: A Transformer Replacement to YOLO for Real-Time Detectioncited by 36
  9. 2024RT-DETRv3: Real-time End-to-End Object Detection with Hierarchical Dense Positive Supervisioncited by 31
  10. 2024Hyper-YOLO: When Visual Object Detection Meets Hypergraph Computationcited by 29
  11. 2025Real-Time Object Detection Meets DINOv3cited by 26
  12. 2024Mamba YOLO: A Simple Baseline for Object Detection with State Space Modelcited by 17
38 more
  1. 2024EfficientViM: Efficient Vision Mamba with Hidden State Mixer based State Space Dualitycited by 17
  2. 2024YOLOv1 to YOLOv10: The fastest and most accurate real-time object detection systemscited by 6
  3. 2024YOLO-TS: Real-Time Traffic Sign Detection with Enhanced Accuracy Using Optimized Receptive Fields and Anchor-Free Fusioncited by 6
  4. 2025Vision Mamba in Remote Sensing: A Comprehensive Survey of Techniques, Applications and Outlookcited by 6
  5. 2025Dome-DETR: DETR with Density-Oriented Feature-Query Manipulation for Efficient Tiny Object Detectioncited by 6
  6. 2024Multi-Branch Auxiliary Fusion YOLO with Re-parameterization Heterogeneous Convolutional for accurate object detectioncited by 4
  7. 2025SoftHGNN: Soft Hypergraph Neural Networks for General Visual Recognitioncited by 4
  8. 2025Butter: Frequency Consistency and Hierarchical Fusion for Autonomous Driving Object Detectioncited by 4
  9. 2024LSM-YOLO: A Compact and Effective ROI Detector for Medical Detectioncited by 3
  10. 2024Real-Time Detection for Small UAVs: Combining YOLO and Multi-frame Motion Analysiscited by 3
  11. 2025MHAF-YOLO: Multi-Branch Heterogeneous Auxiliary Fusion YOLO for accurate object detectioncited by 3
  12. 2025YOLO-LLTS: Real-Time Low-Light Traffic Sign Detection via Prior-Guided Enhancement and Multibranch Feature Interactioncited by 3
  13. 2025Inland Waterway Object Detection in Multi-environment: Dataset and Approachcited by 2
  14. 2024YOLO-TLA: An Efficient and Lightweight Small Object Detection Model based on YOLOv5cited by 1
  15. 2024Synchronized Object Detection for Autonomous Sorting, Mapping, and Quantification of Materials in Circular Healthcarecited by 1
  16. 2024DASSF: Dynamic-Attention Scale-Sequence Fusion for Aerial Object Detectioncited by 1
  17. 2024FA-YOLO: Research On Efficient Feature Selection YOLO Improved Algorithm Based On FMDS and AGMF Modulescited by 1
  18. 2024Differential Evolution Integrated Hybrid Deep Learning Model for Object Detection in Pre-made Dishescited by 1
  19. 2025MGDFIS: Multi-scale Global-detail Feature Integration Strategy for Small Object Detectioncited by 1
  20. 2025DEF-YOLO: Leveraging YOLO for Concealed Weapon Detection in Thermal Imagincited by 1
  21. 2025DFIR-DETR: Frequency-Domain Iterative Refinement and Dynamic Feature Aggregation for Small Object Detectioncited by 1
  22. 2026Le-DETR: Revisiting Real-Time Detection Transformer with Efficient Encoder Designcited by 1
  23. 2024Generating Multi-Center Classifier via Conditional Gaussian Distributioncited by 0
  24. 2024Octave-YOLO: Cross frequency detection network with octave convolutioncited by 0
  25. 2024IAFI-FCOS: Intra- and across-layer feature interaction FCOS model for lesion detection of CT imagescited by 0
  26. 2024DS MYOLO: A Reliable Object Detector Based on SSMs for Driving Scenarioscited by 0
  27. 2025DEAL-YOLO: Drone-based Efficient Animal Localization using YOLOcited by 0
  28. 2025SMDDFNet: State-space Modeling and Dynamic Dual Fusion Network for Traffic Sign Detectioncited by 0
  29. 2025CSDN: A Context-Gated Self-Adaptive Detection Network for Real-Time Object Detectioncited by 0
  30. 2025DGE-YOLO: Dual-Branch Gathering and Attention for Accurate UAV Object Detectioncited by 0
  31. 2025YOLO-APD: Enhancing YOLOv8 for Robust Pedestrian Detection on Complex Road Geometriescited by 0
  32. 2025Benchmarking Nighttime Traffic Sign Recognition with Illumination-Adaptive Detection and Semantic Attribute Reasoningcited by 0
  33. 2025VajraV1 -- The most accurate Real Time Object Detector of the YOLO familycited by 0
  34. 2026A3-FPN: Asymptotic Content-Aware Pyramid Attention Network for Dense Visual Predictioncited by 0
  35. 2026VPD-100K: Towards Generalizable and Fine-grained Visual Privacy Protectioncited by 0
  36. 2026A Camera-Cooperative ISAC Framework for Multimodal Non-Cooperative UAVs Sensingcited by 0
  37. 2026FRFDet: Efficient UAV Small Object Detection with Symmetric Sampling and Scalable Fusioncited by 0
  38. 2026YOLOv14: Adaptive Real-Time Object Detection for Diverse Imaging Conditionscited by 0

50 most cited of 51 All 51 (JSON)