Pavement ageing significantly affects traffic safety and requires timely maintenance. However, accurately identifying pavement conditions from images captured by in-vehicle cameras remains challenging. This paper proposes a lightweight pavement distress detection method, MASL-YOLO. To address multi-scale defects, the method employs multi-scale channel mix convolution to enhance feature fusion, thereby improving the sensitivity to pavement damage. A multi-path aggregation attention mechanism and deformable convolutions are used to enhance adaptive sampling, strengthening feature extraction in the backbone. Integrating a large-kernel separable structure into the spatial pyramid pooling fusion further enhances the network's generalisation capability in complex environments. Experiments show that MASL-YOLO achieves an mAP of 85.5%, a 5.1% improvement over YOLOv8n and operates at 73.7 frames per second, meeting real-time requirements. The model, integrated with the RealSense D455 visual sensor and the GNSS module on the detection vehicle, achieved fast and effective pavement distress detection in field tests.
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