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Object Detection in Foggy Environments Based on Improved RT-DETR
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Zhaojiawen Wang, Rui Fu, Sirou Qu, Qinyu Sun
Automobile Technology | 2026, (9) : 28 - 36
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Automobile Technology | 2026, (9): 28-36
• Special Topic on Lateral Stability and Motion Tracking Control Technology for Steer-by-Wire Vehicles •
Object Detection in Foggy Environments Based on Improved RT-DETR
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Zhaojiawen Wang, Rui Fu, Sirou Qu, Qinyu Sun
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  • School of Automobile, Chang'an University, Xi'an 710054
Published: 2026-09-24 doi: 10.19620/j.cnki.1000-3703.20250758
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To address the degradation of object detection caused by reduced contrast and blurred textures in foggy images, this paper proposes Fog-RT-DETR based on the Real-Time Detection Transformer (RT-DETR). The method integrates an Asymptotic Feature Pyramid Network (AFPN) for multi-scale feature fusion, a Variance-Enhanced Convolutional Block Attention Module (VE-CBAM) for local low-texture perception, and a Feature Degradation Enhancement Module (FDEM) for spatially weighted feature enhancement. Experiments on a foggy-weather dataset constructed from DAWN and ACDC show that Fog-RT-DETR achieves 81.45% and 58.78% ∶0.95, improving over the baseline by 2.12 and 3.89 percentage points, respectively. Recall increases by 0.49 percentage points. Ablation experiments show that combining all three modules yields the best detection results in the reported experiments. Channel compression experiments further demonstrate a trade-off between detection accuracy and computational cost.

Object detection  /  Dense fog weather  /  RT-DETR  /  Attention mechanism  /  Deformable convolution
王赵嘉文, 付锐, 曲思柔, 孙秦豫. 基于改进RT-DETR的雾天环境目标检测. 汽车技术, 2026 , (9) : 28 -36 . DOI: 10.19620/j.cnki.1000-3703.20250758
Zhaojiawen Wang, Rui Fu, Sirou Qu, Qinyu Sun. Object Detection in Foggy Environments Based on Improved RT-DETR[J]. Automobile Technology, 2026 , (9) : 28 -36 . DOI: 10.19620/j.cnki.1000-3703.20250758
Year 2026 volume Issue 9
89
17
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doi: 10.19620/j.cnki.1000-3703.20250758
  • Online Date:2026-10-20
  • Published:2026-09-24
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  • Revised:2026-09-08
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    School of Automobile, Chang'an University, Xi'an 710054
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