Object Detection for Autonomous Vehicle using Single Camera with YOLOv4 and Mapping Algorithm

Mochammad Sahal, Ade Oktavianus Kurniawan, Rusdhianto Effendi Abdul Kadir

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

In this paper, we propose a new algorithm combined with the existing object recognition algorithm. Multi-object recognition algorithms are now various, with their respective advantages and disadvantages according to their uses. However, these algorithms can only detect and recognize objects without being able to know the location of the object relative to the sensor. The ability to know the location of the object is needed so that the autonomous car can make the right decisions without harming the driver. Since it requires fast and precise object detection and recognition capabilities, the algorithm used in object recognition is YOLOv4 with CSPDarknet-53. And because object recognition uses a neural network, the algorithm in determining the location of the object needs to be made as efficient as possible without affecting the performance of the object recognition algorithm, so that the mapping algorithm is used. The YOLOv4 model used has a precision value of 57.23 percent with a detection capability of 0.03785 seconds without a mapping algorithm, and if it is added with a mapping algorithm, the detection time becomes 0.03792 seconds. Since it has fast detection time, thus it can be applied to a real-Time application.

Original languageEnglish
Title of host publication2021 4th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages144-149
Number of pages6
ISBN (Electronic)9781665401517
DOIs
Publication statusPublished - 2021
Event4th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2021 - Virtual, Yogyakarta, Indonesia
Duration: 16 Dec 2021 → …

Publication series

Name2021 4th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2021

Conference

Conference4th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2021
Country/TerritoryIndonesia
CityVirtual, Yogyakarta
Period16/12/21 → …

Keywords

  • CNN
  • Machine learning
  • Object Detection
  • autonomous vehicle

Fingerprint

Dive into the research topics of 'Object Detection for Autonomous Vehicle using Single Camera with YOLOv4 and Mapping Algorithm'. Together they form a unique fingerprint.

Cite this