SEDG-Yolov5: A Lightweight Traffic Sign Detection Model Based on Knowledge Distillation

Abstract

Most existing traffic sign detection models suffer from high computational complexity and superior performance but cannot be deployed on edge devices with limited computational capacity, which cannot meet the direct needs of autonomous vehicles for detection model performance and efficiency. To address the above concerns, this paper proposes an improved SEDG-Yolov5 traffic sign detection method based on knowledge distillation. Firstly, the Slicing Aided Hyper Inference method is used as a local offline data augmentation method for the model training. Secondly, to solve the problems of high-dimensional feature information loss and high model complexity, the inverted residual structure ESGBlock with a fused attention mechanism is proposed, and a lightweight feature extraction backbone network is constructed based on it, while we introduce the GSConv in the feature fusion layer to reduce the computational complexity of the model further. Eventually, an improved response-based objectness scaled knowledge distillation method is proposed to retrain the traffic sign detection model to compensate for the degradation of detection accuracy due to light-weighting. Extensive experiments on two challenging traffic sign datasets show that our proposed method has a good balance on detection precision and detection speed with 2.77M parametric quantities. Furthermore, the inference speed of our method achieves 370 FPS with TensorRT and 35.6 FPS with ONNX at FP16-precision, which satisfies the requirements for real-time sign detection and edge deployment.