To address issues such as low accuracy in vehicle and pedestrian detection and slow inference speed, an improved version of the FCOS object detection algorithm is proposed. The algorithm replaces the original backbone with ResNet18 and incorporates deformable convolution to enhance its ability to capture shape features of the targets, thereby improving feature extraction and model inference speed. A coarse localization box mechanism is added to the algorithm's localization detection head branch to improve the model's classification accuracy and detection box recall. A new background prediction branch is introduced to enhance the model's detection capability for positive samples by predicting the probability of differences with the environment. Additionally, an ATSS (Adaptive Training Sample Selection) label assignment scheme and GFocal Loss function are employed to replace the original label assignment scheme and loss function, mitigating the impact of imbalances between positive and negative samples in the dataset. The experimental results show that the improved algorithm achieves 94.7% on the KITTI traffic target data set, which is 22.2% higher than the original FCOS model, improves the inference speed to 74 pieces per second, and has better effect compared with some mainstream target detection algorithms.
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