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Real-time object detection is an integral part of internet of things (IoT) application, which is an important research field of computer vision. Existing lightweight algorithms cannot handle target occlusions well in target detection tasks in indoor narrow scenes, resulting in a large number of missed detections and misclassifications. To this end, an accurate real-time multi-scale detection method that integrates density-based spatial clustering of applications with noise (DBSCAN) clustering algorithm and the improved You Only Look Once (YOLO)-v4-tiny network is proposed. First, by improving the neck network of the YOLOv4-tiny model, the detailed information of the shallow network is utilized to boost the average precision of the model to identify dense small objects, and the Cross mini-Batch Normalization strategy is adopted to improve the accuracy of statistical information. Second, the DBSCAN clustering algorithm is fused with the modified network to achieve better clustering effects. Finally, Mosaic data enrichment technique is adopted during model training process to improve the capability of the model to recognize occluded targets. Experimental results show that compared to the original YOLOv4-tiny algorithm, the mAP values of the improved algorithm on the self-construct dataset are significantly improved, and the processing speed can well meet the requirements of real-time applications on embedded devices. The performance of the proposed model on public datasets PASCAL VOC07 and PASCAL VOC12 is also better than that of other advanced lightweight algorithms, and the detection ability for occluded objects is significantly improved, which meets the requirements of mobile terminals for real-time detection in crowded indoor environments.

Accurate and real-time object detection in crowded indoor spaces based on the fusion of DBSCAN algorithm and improved YOLOv4-tiny network