# SOD-YOLOv8 -- Enhancing YOLOv8 for Small Object Detection in Traffic Scenes

arXiv: https://arxiv.org/abs/2408.04786 · HTML: https://mlsanity.com/paper/2408.04786/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 54 references that are in the map.
- First posted on arXiv 8 Aug 2024.

## Builds on (most cited first, 30 of 36)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Improved Techniques for Training GANs](https://mlsanity.com/paper/1606.03498/) (2016)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [Path Aggregation Network for Instance Segmentation](https://mlsanity.com/paper/1803.01534/) (2018)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognition](https://mlsanity.com/paper/1406.4729/) (2014)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [DOTA: A Large-scale Dataset for Object Detection in Aerial Images](https://mlsanity.com/paper/1711.10398/) (2017)
- [Distance-IoU Loss: Faster and Better Learning for Bounding Box Regression](https://mlsanity.com/paper/1911.08287/) (2019)
- [Generalized Focal Loss: Learning Qualified and Distributed Bounding Boxes for Dense Object Detection](https://mlsanity.com/paper/2006.04388/) (2020)
- [CSPNet: A New Backbone that can Enhance Learning Capability of CNN](https://mlsanity.com/paper/1911.11929/) (2019)
- [Detection and Tracking Meet Drones Challenge](https://mlsanity.com/paper/2001.06303/) (2020)
- [Coordinate Attention for Efficient Mobile Network Design](https://mlsanity.com/paper/2103.02907/) (2021)
- [TOOD: Task-aligned One-stage Object Detection](https://mlsanity.com/paper/2108.07755/) (2021)
- [UnitBox: An Advanced Object Detection Network](https://mlsanity.com/paper/1608.01471/) (2016)
- [Real-Time Flying Object Detection with YOLOv8](https://mlsanity.com/paper/2305.09972/) (2023)
- [Efficient Multi-Scale Attention Module with Cross-Spatial Learning](https://mlsanity.com/paper/2305.13563/) (2023)

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

- [Bearded Dragon Activity Recognition Pipeline: An AI-Based Approach to Behavioural Monitoring](https://mlsanity.com/paper/2507.17987/) (2025)
- [An AI-IoT Based Smart Wheelchair with Gesture-Controlled Mobility, Deep Learning-Based Obstacle Detection, Multi-Sensor Health Monitoring, and Emergency Alert System](https://mlsanity.com/paper/2601.11983/) (2026)
- [CA-YOLO: Cross Attention Empowered YOLO for Biomimetic Localization](https://mlsanity.com/paper/2602.07523/) (2026)

## Abstract (arXiv)

Object detection as part of computer vision can be crucial for traffic management, emergency response, autonomous vehicles, and smart cities. Despite significant advances in object detection, detecting small objects in images captured by distant cameras remains challenging due to their size, distance from the camera, varied shapes, and cluttered backgrounds. To address these challenges, we propose Small Object Detection YOLOv8 (SOD-YOLOv8), a novel model specifically designed for scenarios involving numerous small objects. Inspired by Efficient Generalized Feature Pyramid Networks (GFPN), we enhance multi-path fusion within YOLOv8 to integrate features across different levels, preserving details from shallower layers and improving small object detection accuracy. Also, A fourth detection layer is added to leverage high-resolution spatial information effectively. The Efficient Multi-Scale Attention Module (EMA) in the C2f-EMA module enhances feature extraction by redistributing weights and prioritizing relevant features. We introduce Powerful-IoU (PIoU) as a replacement for CIoU, focusing on moderate-quality anchor boxes and adding a penalty based on differences between predicted and ground truth bounding box corners. This approach simplifies calculations, speeds up convergence, and enhances detection accuracy. SOD-YOLOv8 significantly improves small object detection, surpassing widely used models in various metrics, without substantially increasing computational cost or latency compared to YOLOv8s. Specifically, it increases recall from 40.1% to 43.9%, precision from 51.2% to 53.9%, mAP0.5 from 40.6% to 45.1%, and mAP0.5:0.95 from 24% to 26.6%. In dynamic real-world traffic scenes, SOD-YOLOv8 demonstrated notable improvements in diverse conditions, proving its reliability and effectiveness in detecting small objects even in challenging environments.