{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,23]],"date-time":"2025-09-23T03:12:44Z","timestamp":1758597164329,"version":"3.44.0"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"12","license":[{"start":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T00:00:00Z","timestamp":1757030400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T00:00:00Z","timestamp":1757030400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SIViP"],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1007\/s11760-025-04585-8","type":"journal-article","created":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T16:04:12Z","timestamp":1757088252000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["RTF-YOLO: an efficient object detection framework for autonomous vehicles"],"prefix":"10.1007","volume":"19","author":[{"given":"Yang","family":"Sun","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mengyao","family":"Zhen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yinuo","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiyang","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guanyu","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoran","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,9,5]]},"reference":[{"key":"4585_CR1","doi-asserted-by":"publisher","unstructured":"M. Milford, S. Anthony, W. Scheirer, Self-driving vehicles: Key technical challenges and progress off the road, IEEE Potentials, 39 (2019) 37-45. https:\/\/doi.org\/10.1109\/MPOT.2019.2939376","DOI":"10.1109\/MPOT.2019.2939376"},{"key":"4585_CR2","doi-asserted-by":"publisher","unstructured":"B. Mahaur, K. Mishra, A. Kumar, An improved lightweight small object detection framework applied to real-time autonomous driving, Expert Systems with Applications, 2023. https:\/\/doi.org\/10.1016\/j.eswa.2023.121036","DOI":"10.1016\/j.eswa.2023.121036"},{"key":"4585_CR3","doi-asserted-by":"publisher","unstructured":"Z. Song, L. Liu, F. Jia, Y. Luo, C. Jia, G. Zhang, L. Yang, L. Wang, Robustness-aware 3d object detection in autonomous driving: A review and outlook, IEEE Transactions on Intelligent Transportation Systems, 2024. https:\/\/doi.org\/10.48550\/arXiv.2401.06542","DOI":"10.48550\/arXiv.2401.06542"},{"key":"4585_CR4","unstructured":"E. Alpaydin, C. Kaynak, Cascading classifiers, Kybernetika, 1998."},{"key":"4585_CR5","doi-asserted-by":"publisher","unstructured":"R. Girshick, Fast r-cnn, in: Proceedings of the IEEE international conference on computer vision, 2015, pp. 1440-1448. https:\/\/doi.org\/10.1109\/ICCV.2015.169","DOI":"10.1109\/ICCV.2015.169"},{"key":"4585_CR6","doi-asserted-by":"publisher","unstructured":"K. He, G. Gkioxari, P. Doll\u00e1r, R. Girshick, Mask r-cnn, in: Proceedings of the IEEE international conference on computer vision, 2017, pp. 2961-2969. https:\/\/doi.org\/10.1109\/ICCV.2017.322","DOI":"10.1109\/ICCV.2017.322"},{"key":"4585_CR7","doi-asserted-by":"publisher","unstructured":"S. Ren, K. He, R. Girshick, J. Sun, Faster R-CNN: Towards real-time object detection with region proposal networks, IEEE transactions on pattern analysis machine intelligence, 2016. https:\/\/doi.org\/10.1109\/TPAMI.2016.2577031","DOI":"10.1109\/TPAMI.2016.2577031"},{"key":"4585_CR8","doi-asserted-by":"publisher","unstructured":"J. Redmon, S. Divvala, R. Girshick, A. Farhadi, You only look once: Unified, real-time object detection, in: Proceedings of the IEEE conference on computer vision and pattern recognition, 2016, pp. 779-788. https:\/\/doi.org\/10.1109\/CVPR.2016.91","DOI":"10.1109\/CVPR.2016.91"},{"key":"4585_CR9","doi-asserted-by":"publisher","unstructured":"J. Redmon, A. Farhadi, Yolov3: An incremental improvement, arXiv preprint arXiv:.02767, 2018. https:\/\/doi.org\/10.48550\/arXiv.1804.02767","DOI":"10.48550\/arXiv.1804.02767"},{"key":"4585_CR10","doi-asserted-by":"publisher","unstructured":"C.-Y. Wang, A. Bochkovskiy, H.-Y.M. Liao, YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors, in: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, 2023, pp. 7464-7475. https:\/\/doi.org\/10.1109\/CVPR52729.2023.00721","DOI":"10.1109\/CVPR52729.2023.00721"},{"key":"4585_CR11","doi-asserted-by":"publisher","unstructured":"A. Wang, H. Chen, L. Liu, K. Chen, Z. Lin, J. Han, Yolov10: Real-time end-to-end object detection, Advances in Neural Information Processing Systems, 2024. https:\/\/doi.org\/10.48550\/arXiv.2405.14458","DOI":"10.48550\/arXiv.2405.14458"},{"key":"4585_CR12","doi-asserted-by":"publisher","unstructured":"W. Liu, D. Anguelov, D. Erhan, C. Szegedy, S. Reed, C.-Y. Fu, A.C. Berg, Ssd: Single shot multibox detector, in: Computer Vision\u2013ECCV 2016: 14th European Conference, Amsterdam, The Netherlands, October 11\u201314, 2016, Proceedings, Part I 14, Springer, 2016, pp. 21-37. https:\/\/doi.org\/10.48550\/arXiv.1512.02325","DOI":"10.48550\/arXiv.1512.02325"},{"key":"4585_CR13","doi-asserted-by":"publisher","unstructured":"L. Xu, W. Yan, J. Ji, The research of a novel WOG-YOLO algorithm for autonomous driving object detection, Scientific reports, 2023. https:\/\/doi.org\/10.1038\/s41598-023-30409-1","DOI":"10.1038\/s41598-023-30409-1"},{"key":"4585_CR14","doi-asserted-by":"publisher","unstructured":"M. Li, X. Liu, S. Chen, L. Yang, Q. Du, Z. Han, J. Wang, MST-YOLO: Small Object Detection Model for Autonomous Driving, Sensors, 2024. https:\/\/doi.org\/10.3390\/s24227347","DOI":"10.3390\/s24227347"},{"key":"4585_CR15","doi-asserted-by":"publisher","unstructured":"R. Chaudhry, SD-YOLO-AWDNet: A hybrid approach for smart object detection in challenging weather for self-driving cars, Expert Systems with Applications, 2024. https:\/\/doi.org\/10.1016\/j.eswa.2024.124942","DOI":"10.1016\/j.eswa.2024.124942"},{"key":"4585_CR16","doi-asserted-by":"publisher","unstructured":"L. Wang, S. Hua, C. Zhang, G. Yang, J. Ren, J. Li, YOLOdrive: A Lightweight Autonomous Driving Single-Stage Target Detection Approach, IEEE Internet of Things Journal, 2024. https:\/\/doi.org\/10.1109\/JIOT.2024.3439863","DOI":"10.1109\/JIOT.2024.3439863"},{"key":"4585_CR17","doi-asserted-by":"publisher","unstructured":"B. Yu, Z. Li, Y. Cao, C. Wu, J. Qi, L. Wu, YOLO-MPAM: Efficient real-time neural networks based on multi-channel feature fusion, Expert Systems with Applications, 2024. https:\/\/doi.org\/10.1016\/j.eswa.2024.124282","DOI":"10.1016\/j.eswa.2024.124282"},{"key":"4585_CR18","doi-asserted-by":"publisher","unstructured":"J. Ren, J. Yang, W. Zhang, K. Cai, RBS-YOLO: A vehicle detection algorithm based on multi-scale feature extraction, Signal, Image Video Processing, 2024. https:\/\/doi.org\/10.1007\/s11760-024-03007-5","DOI":"10.1007\/s11760-024-03007-5"},{"key":"4585_CR19","doi-asserted-by":"publisher","unstructured":"T. Xue, Z. Liu, S. Lan, Q. Zhang, A. Yang, J. Li, YOLO-FSE: An Improved Target Detection Algorithm for Vehicles in Autonomous Driving, IEEE Internet of Things Journal, 2025. https:\/\/doi.org\/10.1109\/JIOT.2025.3526224","DOI":"10.1109\/JIOT.2025.3526224"},{"key":"4585_CR20","doi-asserted-by":"publisher","unstructured":"Q. Fan, Y. Li, M. Deveci, K. Zhong, S. Kadry, LUD-YOLO: A novel lightweight object detection network for unmanned aerial vehicle, Information Sciences, 2025. https:\/\/doi.org\/10.1016\/j.ins.2024.121366","DOI":"10.1016\/j.ins.2024.121366"},{"key":"4585_CR21","doi-asserted-by":"publisher","unstructured":"H. Wang, J. Liu, J. Zhao, J. Zhang, D. Zhao, Precision and speed: LSOD-YOLO for lightweight small object detection, Expert Systems with Applications, 2025. https:\/\/doi.org\/10.1016\/j.eswa.2025.126440","DOI":"10.1016\/j.eswa.2025.126440"},{"key":"4585_CR22","doi-asserted-by":"publisher","unstructured":"R. Khanam, M. Hussain, Yolov11: An overview of the key architectural enhancements, arXiv preprint arXiv:.17725, 2024. https:\/\/doi.org\/10.48550\/arXiv.2410.17725","DOI":"10.48550\/arXiv.2410.17725"},{"key":"4585_CR23","doi-asserted-by":"publisher","unstructured":"X. Zhang, C. Liu, D. Yang, T. Song, Y. Ye, K. Li, Y. Song, RFAConv: Innovating spatial attention and standard convolutional operation, arXiv preprint arXiv:.03198, 2023. https:\/\/doi.org\/10.48550\/arXiv.2304.03198","DOI":"10.48550\/arXiv.2304.03198"},{"key":"4585_CR24","doi-asserted-by":"publisher","unstructured":"X. Chen, H. Li, M. Li, J. Pan, Learning a sparse transformer network for effective image deraining, in: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, 2023, pp. 5896-5905. https:\/\/doi.org\/10.1109\/CVPR52729.2023.00571","DOI":"10.1109\/CVPR52729.2023.00571"},{"key":"4585_CR25","doi-asserted-by":"publisher","unstructured":"H. Zhang, S. Zhang, Focaler-iou: More focused intersection over union loss, arXiv preprint arXiv:.10525, 2024. https:\/\/doi.org\/10.48550\/arXiv.2401.10525","DOI":"10.48550\/arXiv.2401.10525"},{"key":"4585_CR26","doi-asserted-by":"crossref","unstructured":"A. Geiger, P. Lenz, C. Stiller, R. Urtasun, Vision meets robotics: The kitti dataset, The international journal of robotics research, 2013. http:\/\/dx.doi.org\/10.1177\/0278364913491297","DOI":"10.1177\/0278364913491297"},{"key":"4585_CR27","doi-asserted-by":"publisher","unstructured":"F. Yu, H. Chen, X. Wang, W. Xian, Y. Chen, F. Liu, V. Madhavan, T. Darrell, Bdd100k: A diverse driving dataset for heterogeneous multitask learning, in: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, 2020, pp. 2636-2645. https:\/\/doi.org\/10.1109\/CVPR42600.2020.00271","DOI":"10.1109\/CVPR42600.2020.00271"},{"key":"4585_CR28","doi-asserted-by":"publisher","unstructured":"C. Wang, W. He, Y. Nie, J. Guo, C. Liu, Y. Wang, K. Han, Gold-YOLO: Efficient object detector via gather-and-distribute mechanism, Advances in Neural Information Processing Systems, 2023. https:\/\/doi.org\/10.48550\/arXiv.2309.11331","DOI":"10.48550\/arXiv.2309.11331"},{"key":"4585_CR29","doi-asserted-by":"publisher","unstructured":"Y. Zhao, W. Lv, S. Xu, J. Wei, G. Wang, Q. Dang, Y. Liu, J. Chen, Detrs beat yolos on real-time object detection, in: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, 2024, pp. 16965-16974. https:\/\/doi.org\/10.1109\/CVPR52733.2024.01605","DOI":"10.1109\/CVPR52733.2024.01605"}],"container-title":["Signal, Image and Video Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-025-04585-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11760-025-04585-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-025-04585-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T13:17:12Z","timestamp":1758547032000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11760-025-04585-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,5]]},"references-count":29,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["4585"],"URL":"https:\/\/doi.org\/10.1007\/s11760-025-04585-8","relation":{},"ISSN":["1863-1703","1863-1711"],"issn-type":[{"type":"print","value":"1863-1703"},{"type":"electronic","value":"1863-1711"}],"subject":[],"published":{"date-parts":[[2025,9,5]]},"assertion":[{"value":"10 April 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 May 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 July 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 September 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"993"}}