{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T14:18:56Z","timestamp":1785421136072,"version":"3.56.0"},"reference-count":53,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T00:00:00Z","timestamp":1783987200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004530","name":"Universiti Putra Malaysia","doi-asserted-by":"publisher","award":["GP-IPS\/2025\/9822500"],"award-info":[{"award-number":["GP-IPS\/2025\/9822500"]}],"id":[{"id":"10.13039\/501100004530","id-type":"DOI","asserted-by":"publisher"}]},{"award":["GP-IPS\/2025\/9822500"],"award-info":[{"award-number":["GP-IPS\/2025\/9822500"]}],"id":[{"id":"https:\/\/ror.org\/02e91jd64","id-type":"ROR","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009590","name":"Gansu Provincial Education Department","doi-asserted-by":"publisher","award":["2026A-157"],"award-info":[{"award-number":["2026A-157"]}],"id":[{"id":"10.13039\/501100009590","id-type":"DOI","asserted-by":"publisher"}]},{"award":["2026A-157"],"award-info":[{"award-number":["2026A-157"]}],"id":[{"id":"https:\/\/ror.org\/03w2z6524","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Accurate real-time detection of small traffic objects remains a critical challenge for onboard vision-based traffic perception, particularly under conditions of weak texture, scale variation, occlusion, and limited computational resources. To address these challenges, this paper proposes DER-YOLO, a lightweight small-object-oriented detector built upon YOLO11n, specifically designed for complex traffic scenes. DER-YOLO introduces stage-wise feature calibration across the backbone, neck, and pre-head stages to enhance small-object representation. First, a Decoupled Global Context C3k2 (DGC-C3k2) module strengthens contextual representation for weak and low-saliency traffic objects after local feature extraction. Second, an ECA-guided Cross-scale Adaptive Fusion (ECAF) module adaptively balances high-level semantic cues and shallow high-resolution details to improve multi-scale feature interaction. Third, a Refined Large Selective Kernel (RLSK) module refines high-resolution spatial responses before the P3 detection head, enhancing small-object localization. Extensive experiments on KITTI and BDD100K demonstrate that DER-YOLO improves detection accuracy while maintaining real-time inference. On KITTI, it achieves 86.95% mAP@0.5 and 60.89% mAP@0.5:0.95, with small-object AP@0.5:0.95 increasing from 27.0% to 29.3%. On BDD100K, it achieves 55.05% mAP@0.5 and 29.21% mAP@0.5:0.95, with small-object AP@0.5:0.95 increasing from 12.6% to 15.2%. With 2.744 M parameters, 7.401 GFLOPs, and over 100 FPS, DER-YOLO provides an effective and lightweight solution for real-time small-object detection in onboard traffic perception scenarios.<\/jats:p>","DOI":"10.3390\/s26144462","type":"journal-article","created":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T10:12:53Z","timestamp":1784023973000},"page":"4462","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["DER-YOLO: A Lightweight Stage-Wise Feature Calibration Network for Onboard Real-Time Small-Object Detection"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6302-9986","authenticated-orcid":false,"given":"Jiapei","family":"Wei","sequence":"first","affiliation":[{"name":"Department of Automotive Engineering, School of Mechanical and Electrical Engineering, Tianshui Normal University, Tianshui 741000, China"},{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6804-3697","authenticated-orcid":false,"given":"Azizan","family":"As\u2019arry","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3960-136X","authenticated-orcid":false,"given":"Khairil Anas","family":"Md Rezali","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang 43400, Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1069-7345","authenticated-orcid":false,"given":"Mohd Zuhri","family":"Mohamed Yusoff","sequence":"additional","affiliation":[{"name":"Laboratory of Biocomposite Technology, Institute of Tropical Forestry and Forest Products, Universiti Putra Malaysia, Serdang 43400, Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Masnida","family":"Hussin","sequence":"additional","affiliation":[{"name":"Department of Communication Technology and Network, Faculty of Computer Science and Information Technology, Universiti Putra Malaysia, Serdang 43400, Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tong","family":"Mu","sequence":"additional","affiliation":[{"name":"Department of Automotive Engineering, School of Mechanical and Electrical Engineering, Tianshui Normal University, Tianshui 741000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,7,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"15407","DOI":"10.1109\/TITS.2024.3439557","article-title":"Robustness-Aware 3D Object Detection in Autonomous Driving: A Review and Outlook","volume":"25","author":"Song","year":"2024","journal-title":"IEEE Trans. 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