Improved Real-Time Traffic Obstacle Detection and Classification Method Applied in Intelligent and Connected Vehicles in Mixed Traffic Environment

<div>Examples of detection results. (a) Original YOLOv4-tiny. (b) Improved YOLOv4-tiny. (c) Original YOLOv4-tiny. (d) Improved YOLOv4-tiny. (e) Original YOLOv4-tiny. (f) Improved YOLOv4-tiny.</div>

Journal of Advanced Transportation

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Figure 12

Figure 12: Improved Real-Time Traffic Obstacle Detection and Classification Method Applied in Intelligent and Connected Vehicles in Mixed Traffic Environment 

Figure 12 | Improved Real-Time Traffic Obstacle Detection and Classification Method Applied in Intelligent and Connected Vehicles in Mixed Traffic Environment 