Full
Outline
To address the issues of single-type detection and poor adaptability in detecting distant small targets and low-light scenes for road surface irregularity recognition, this paper proposes an improved YOLOv10-based detection algorithm. The SPPF module is replaced with a Focal Modulation network to enhance small-target detection accuracy. The CPA-Enhancer is introduced to improve detection performance under low-light conditions. The Shape-IoU loss function is adopted to optimize localization precision. Experimental results on a self-built dataset demonstrate that the improved model achieves a 3.08% higher mAP@0.5 than the original model. Real-vehicle deployment further verifies the effectiveness of the proposed model, demonstrating its capability for real-time detection of 7 types of road surface irregularities, including speed bumps, potholes, and vibrating markings.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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