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

<div>P-R curves of different models. (a) Original YOLOv3. (b) Improved YOLOv3. (c) Original YOLOv4. (d) Improved YOLOv4. (e) Original YOLOv4-tiny. (f) Improved YOLOv4-tiny.</div>

Journal of Advanced Transportation

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Figure 9

Figure 9: Improved Real-Time Traffic Obstacle Detection and Classification Method Applied in Intelligent and Connected Vehicles in Mixed Traffic Environment 

Figure 9 | Improved Real-Time Traffic Obstacle Detection and Classification Method Applied in Intelligent and Connected Vehicles in Mixed Traffic Environment 