# YOLO-APD: Enhancing YOLOv8 for Robust Pedestrian Detection on Complex Road Geometries

arXiv: https://arxiv.org/abs/2507.05376 · HTML: https://mlsanity.com/paper/2507.05376/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 26 of its 58 references that are in the map.
- First posted on arXiv 7 Jul 2025.

## Builds on (most cited first, 26 of 26)

- [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)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [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)
- [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)
- [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)
- [Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognition](https://mlsanity.com/paper/1406.4729/) (2014)
- [ECA-Net: Efficient Channel Attention for Deep Convolutional Neural Networks](https://mlsanity.com/paper/1910.03151/) (2019)
- [GhostNet: More Features from Cheap Operations](https://mlsanity.com/paper/1911.11907/) (2019)
- [Dynamic Convolution: Attention over Convolution Kernels](https://mlsanity.com/paper/1912.03458/) (2019)
- [Coordinate Attention for Efficient Mobile Network Design](https://mlsanity.com/paper/2103.02907/) (2021)
- [Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Art](https://mlsanity.com/paper/1704.05519/) (2017)
- [YOLOv6 v3.0: A Full-Scale Reloading](https://mlsanity.com/paper/2301.05586/) (2023)
- [Omni-Dimensional Dynamic Convolution](https://mlsanity.com/paper/2209.07947/) (2022)
- [Gold-YOLO: Efficient Object Detector via Gather-and-Distribute Mechanism](https://mlsanity.com/paper/2309.11331/) (2023)
- [What is YOLOv8: An In-Depth Exploration of the Internal Features of the Next-Generation Object Detector](https://mlsanity.com/paper/2408.15857/) (2024)
- [What is YOLOv5: A deep look into the internal features of the popular object detector](https://mlsanity.com/paper/2407.20892/) (2024)
- [YOLOv8 to YOLO11: A Comprehensive Architecture In-depth Comparative Review](https://mlsanity.com/paper/2501.13400/) (2025)
- [Focaler-IoU: More Focused Intersection over Union Loss](https://mlsanity.com/paper/2401.10525/) (2024)
- [CARLA-Autoware-Bridge: Facilitating Autonomous Driving Research with a Unified Framework for Simulation and Module Development](https://mlsanity.com/paper/2402.11239/) (2024)

## Abstract (arXiv)

Autonomous vehicle perception systems require robust pedestrian detection, particularly on geometrically complex roadways like Type-S curved surfaces, where standard RGB camera-based methods face limitations. This paper introduces YOLO-APD, a novel deep learning architecture enhancing the YOLOv8 framework specifically for this challenge. YOLO-APD integrates several key architectural modifications: a parameter-free SimAM attention mechanism, computationally efficient C3Ghost modules, a novel SimSPPF module for enhanced multi-scale feature pooling, the Mish activation function for improved optimization, and an Intelligent Gather & Distribute (IGD) module for superior feature fusion in the network's neck. The concept of leveraging vehicle steering dynamics for adaptive region-of-interest processing is also presented. Comprehensive evaluations on a custom CARLA dataset simulating complex scenarios demonstrate that YOLO-APD achieves state-of-the-art detection accuracy, reaching 77.7% mAP@0.5:0.95 and exceptional pedestrian recall exceeding 96%, significantly outperforming baseline models, including YOLOv8. Furthermore, it maintains real-time processing capabilities at 100 FPS, showcasing a superior balance between accuracy and efficiency. Ablation studies validate the synergistic contribution of each integrated component. Evaluation on the KITTI dataset confirms the architecture's potential while highlighting the need for domain adaptation. This research advances the development of highly accurate, efficient, and adaptable perception systems based on cost-effective sensors, contributing to enhanced safety and reliability for autonomous navigation in challenging, less-structured driving environments.