Object and lane detection for autonomous vehicle using YOLO V3 algorithm

Abstract

To detect the objects around an autonomous vehicle is very essential to operate safely. This paper presents to detect and classify the objects for assisting autonomous driving. In autonomous driving systems, the task of object detection itself is one of the most important prerequisites to autonomous navigation. Deep learning one of the computer vision tasks, perform object detection very effectively than compared to earlier methods and this project is to detect the objects like vehicles, persons, traffic lights, etc. In this work, an approach to object detection in deep learning that makes the bounding box for an image to predict is explored. Object detection is the method of detecting the objects present in a given image. Apart from detecting the number of objects present in an image it also specifies in which location that object is present in the image. The objects are detected by means of bounding boxes. In the existing system algorithm like Convolutional Neural Network (CNN) using Resnet-50 were used to detect the objects like vehicles, persons, traffic lights separately. The problem identified here is, in the existing system the camera is fixed in a particular place and it detects objects only if the objects come into the camera frames. It is not detecting both objects and lanes simultaneously when the autonomous vehicle is in motion at any location. To overcome these problems, in the proposed system object detection is performed by mounting camera in front of the moving vehicle. You Only Look Once (YOLO) V3 Algorithm is used for the process of object detection. Compared to earlier detection approaches YOLO V3 shows improvement in detection accuracy. It provides good feature extraction and detection in large-scale. The proposed YOLO al gorithm has better average precision value for detecting all objects than compared to existing CNN using Resnet-50. In addition YOLO V3 algorithm performs lane detection apart from object detection.