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浙江大学学报(工学版)  2026, Vol. 60 Issue (7): 1464-1474    DOI: 10.3785/j.issn.1008-973X.2026.07.009
计算机与控制工程     
基于多尺度特征相似性匹配的低照度目标检测
于鑫淼(),夏楠*(),江佳鸿,郝子莹,把云胜
大连工业大学 信息科学与工程学院,辽宁 大连 116034
Low-light target detection based on multi-scale feature similarity matching
Xinmiao YU(),Nan XIA*(),Jiahong JIANG,Ziying HAO,Yunsheng BA
School of Information Science and Engineering, Dalian Polytechnic University, Dalian 116034, China
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摘要:

针对低照度场景下图像细节不明显而造成对比度下降的问题,提出先增强后检测的技术方法. 提出细节增强模块,用于捕获图像中的目标细节并增强图像对比度;构建多尺度特征提取网络,通过低级特征提取模块与特征融合策略,充分捕获图像在网络浅层的细节信息;设计相似性匹配网络,对原特征图和增强特征图进行多尺度分割和特征相似性匹配,对关键信息进行重要性加权,强化有效特征的表达并抑制冗余噪声. 结合YOLOv12目标检测器,所提算法在夜间目标检测数据集ExDark和自建数据集上的平均精度均值分别达到了83.4%和80.4%,显著优于PE-YOLO等现有主流算法. 在COCO和DarkFace数据集上的对比实验结果验证了算法的泛化性. 所提算法通过增强图像的细节特征和对比度,提升了低照度场景下目标检测模型的性能.

关键词: 自动驾驶低照度目标检测多尺度特征提取相似性匹配重要性加权    
Abstract:

An enhancement-first, detection-later technical method was proposed to tackle the problem of reduced contrast caused by indistinct image details in low-light scenarios. A detail enhancement module was put forward to capture the target details in images and improve the image contrast. A multi-scale feature extraction network was constructed to fully capture the detailed information of images in the shallow layers of the network through the low-level feature extraction module and the feature fusion strategy. A similarity matching network was designed, which performed multi-scale segmentation and feature similarity matching on the original and enhanced feature maps, weighted the importance of key information, enhanced the representation of effective features and suppressed the redundant noise. When combined with the YOLOv12 target detector, the proposed method achieved the mean average precision of 83.4% and 80.4% on the nighttime target detection dataset ExDark and the self-built dataset, respectively, which significantly outperformed the existing mainstream algorithms such as PE-YOLO. The generalizability of the proposed method was validated by the results of comparative experiments conducted on the COCO and the DarkFace datasets. By enhancing the detailed features and contrast of images, the proposed algorithm improves the performance of target detection models in low-light scenarios.

Key words: autonomous driving    low-light target detection    multi-scale feature extraction    similarity matching    importance weighting
收稿日期: 2025-05-28 出版日期: 2026-05-23
CLC:  TP 391.4  
基金资助: 辽宁省科技计划联合计划资助项目(2025-MSLH-049).
通讯作者: 夏楠     E-mail: 13065369922@163.com;xianan@dlpu.edu.cn
作者简介: 于鑫淼(2000—),男,硕士生,从事深度学习目标检测研究. orcid.org/0009-0009-7617-1045. E-mail:13065369922@163.com
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引用本文:

于鑫淼,夏楠,江佳鸿,郝子莹,把云胜. 基于多尺度特征相似性匹配的低照度目标检测[J]. 浙江大学学报(工学版), 2026, 60(7): 1464-1474.

Xinmiao YU,Nan XIA,Jiahong JIANG,Ziying HAO,Yunsheng BA. Low-light target detection based on multi-scale feature similarity matching. Journal of ZheJiang University (Engineering Science), 2026, 60(7): 1464-1474.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.07.009        https://www.zjujournals.com/eng/CN/Y2026/V60/I7/1464

图 1  基于多尺度特征相似性匹配的低照度目标检测方法
图 2  细节增强模块结构
图 3  多尺度特征提取网络
图 4  多尺度特征相似性匹配网络
方法AP/%mAP/%FPS/
(帧·s?1)
自行车瓶子公交车汽车椅子杯子摩托车行人桌子
Faster R-CNN[8]83.072.374.685.082.678.677.281.681.082.781.372.079.371.1
Mask R-CNN[9]87.474.478.187.983.180.280.681.078.376.683.270.680.268.5
RetinaNet [10]84.573.272.786.580.876.876.875.973.478.376.667.176.974.6
YOLOv10[31]85.276.482.787.480.975.975.379.282.582.380.674.679.893.7
YOLOv11[32]87.676.982.487.581.276.377.080.981.979.681.074.480.592.7
YOLOv12[33]88.776.882.088.181.976.077.381.282.482.981.474.781.191.5
RT-DETR[7]85.176.681.487.081.275.681.381.882.282.883.770.980.884.0
DENet[16]85.675.277.884.483.577.978.779.580.683.582.374.080.394.1
IAT[34]86.575.677.488.783.279.681.180.577.683.180.376.480.988.8
PE-YOLO[18]88.775.479.890.683.977.882.582.478.782.580.873.481.491.2
WSA-YOLO[17]88.078.881.392.684.678.580.380.980.784.381.977.182.487.2
本研究方法89.381.582.694.286.177.679.682.082.984.583.174.283.485.0
表 1  所提方法与经典算法、最新优化算法在ExDark数据集上的检测精度与速度对比
方法AP/%mAP/%FPS/
(帧·s?1)
自行车公交车汽车货车摩托车行人
RetinaNet [10]76.177.666.564.268.868.270.266.0
YOLOv10[31]76.679.269.168.973.772.973.482.6
YOLOv11[32]77.381.469.769.373.673.074.081.5
YOLOv12[33]79.083.176.375.772.077.477.180.3
RT-DETR[7]78.980.371.972.671.269.974.176.2
DENet[16]78.780.774.974.372.774.876.083.6
IAT[34]81.282.677.876.673.974.977.879.4
PE-YOLO[18]80.782.477.979.276.479.579.379.9
WSA-YOLO[17]81.683.479.279.376.578.979.878.4
本研究方法82.384.079.477.978.680.280.477.6
表 2  所提方法与最新优化算法在自建数据集上的检测精度与速度对比
方法COCO数据集DarkFace数据集
mAP/%FPS/(帧·s?1)mAP/%FPS/(帧·s?1)
YOLOv11[32]54.0102.669.879.6
YOLOv12[33]54.499.071.289.3
RT-DETR[7]54.790.870.775.2
IAT[34]54.994.870.886.3
PE-YOLO[18]55.898.171.878.2
WSA-YOLO[17]56.196.772.476.6
本研究方法56.394.174.075.9
表 3  不同算法在COCO和DarkFace数据集上的检测精度对比
DEMMSFEMFSMmAP/%FLOPs/GNp/M
×××81.121.69.3
××81.938.715.1
×82.276.928.3
83.4121.534.5
表 4  不同改进措施对网络性能的影响
s = 2s = 4s = 8mAP/%FLOPs/GFPS/(帧·s?1)
×82.588.391.8
×82.8103.690.5
×82.9115.989.5
83.1121.589.0
表 5  不同尺度对特征相似性匹配网络性能的影响
方法mAP/%FPS/(帧·s?1)
所提网络+YOLOv576.380.7
所提网络+YOLOv879.682.6
所提网络+YOLOv1082.186.0
所提网络+YOLOv1182.786.2
所提网络+YOLOv1283.485.1
表 6  所提网络在不同检测器上的检测性能
方法mAP/%FPS/(帧·s?1)
DENet[16]+YOLOv1280.791.3
IAT[34]+YOLOv1281.587.5
PE[18]+YOLOv1282.689.4
WSA[17]+YOLOv1283.185.6
本研究方法+YOLOv1283.485.1
表 7  不同网络在相同检测器上的检测性能
图 5  采用DEM和MSFE时模型对低照度场景下目标的关注程度
图 6  不同算法对低照度场景下目标的关注程度
图 7  目标检测任务中不同算法的置信度分布可视化对比
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