# Real-time Traffic Object Detection for Autonomous Driving

arXiv: https://arxiv.org/abs/2402.00128 · HTML: https://mlsanity.com/paper/2402.00128/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 32 references that are in the map.
- First posted on arXiv 31 Jan 2024.

## Builds on (most cited first, 22 of 22)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [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)
- [Dynamic Head: Unifying Object Detection Heads with Attentions](https://mlsanity.com/paper/2106.08322/) (2021)
- [Fast Convergence of DETR with Spatially Modulated Co-Attention](https://mlsanity.com/paper/2101.07448/) (2021)
- [SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptation](https://mlsanity.com/paper/2206.08367/) (2022)
- [The EuroCity Persons Dataset: A Novel Benchmark for Object Detection](https://mlsanity.com/paper/1805.07193/) (2018)
- [TJU-DHD: A Diverse High-Resolution Dataset for Object Detection](https://mlsanity.com/paper/2011.09170/) (2020)
- [Accurate Single Stage Detector Using Recurrent Rolling Convolution](https://mlsanity.com/paper/1704.05776/) (2017)
- [F2DNet: Fast Focal Detection Network for Pedestrian Detection](https://mlsanity.com/paper/2203.02331/) (2022)
- [Monocular Pedestrian Orientation Estimation Based on Deep 2D-3D Feedforward](https://mlsanity.com/paper/1909.10970/) (2019)

## Built on by (most cited first, 3 of 3)

- [Delving into Multi-modal Multi-task Foundation Models for Road Scene Understanding: From Learning Paradigm Perspectives](https://mlsanity.com/paper/2402.02968/) (2024)
- [Engineering an Efficient Object Tracker for Non-Linear Motion](https://mlsanity.com/paper/2407.00738/) (2024)
- [Enabling Federated Object Detection for Connected Autonomous Vehicles: A Deployment-Oriented Evaluation](https://mlsanity.com/paper/2509.01868/) (2025)

## Abstract (arXiv)

With recent advances in computer vision, it appears that autonomous driving will be part of modern society sooner rather than later. However, there are still a significant number of concerns to address. Although modern computer vision techniques demonstrate superior performance, they tend to prioritize accuracy over efficiency, which is a crucial aspect of real-time applications. Large object detection models typically require higher computational power, which is achieved by using more sophisticated onboard hardware. For autonomous driving, these requirements translate to increased fuel costs and, ultimately, a reduction in mileage. Further, despite their computational demands, the existing object detectors are far from being real-time. In this research, we assess the robustness of our previously proposed, highly efficient pedestrian detector LSFM on well-established autonomous driving benchmarks, including diverse weather conditions and nighttime scenes. Moreover, we extend our LSFM model for general object detection to achieve real-time object detection in traffic scenes. We evaluate its performance, low latency, and generalizability on traffic object detection datasets. Furthermore, we discuss the inadequacy of the current key performance indicator employed by object detection systems in the context of autonomous driving and propose a more suitable alternative that incorporates real-time requirements.