Multispectral object detection is a crucial technology in remote sensing image processing, particularly in low-light environments. Most current methods extract features at a single scale, resulting in the fusion of invalid features and the failure to detect small objects. To address these issues, we propose a multispectral object detection network based on multilevel feature fusion and dual feature modulation (GMD-YOLO). Firstly, a novel dual-channel CSPDarknet53 network is used to extract deep features from visible-infrared images. This network incorporates a Ghost module, which generates additional feature maps through a series of linear operations, achieving a balance between accuracy and speed. Secondly, the multilevel feature fusion (MLF) module is designed to utilize cross-modal information through the construction of hierarchical residual connections. This approach strengthens the complementarity between different modalities, allowing the network to improve multiscale representation capabilities at a more refined granularity level. Finally, a dual feature modulation (DFM) decoupling head is introduced to enhance small object detection. This decoupled head effectively meets the distinct requirements of classification and localization tasks. GMD-YOLO is validated on three public visible-infrared datasets: DroneVehicle, KAIST, and LLVIP. DroneVehicle and LLVIP achieved mAP@0.5 of 78.0% and 98.0%, outperforming baseline methods by 3.6% and 4.4%, respectively. KAIST exhibited an MR of 7.73% with an FPS of 61.7. Experimental results demonstrated that our method surpasses existing advanced methods and exhibits strong robustness.

Lane detection is a vital component of intelligent driving systems, offering indispensable functionality to keep the vehicle within its designated lane, thereby reducing the risk of lane departure. However, the complexity of the traffic environment, coupled with the rapid movement of vehicles, creates many challenges for detection tasks. Current lane detection methods suffer from issues such as low feature extraction capability, poor real-time detection, and inadequate robustness. Addressing these issues, this paper proposes a lane detection algorithm that combines an online re-parameterization ResNet with a hybrid attention mechanism. Firstly, we replaced standard convolution with online re-parameterization convolution, simplifying the convolutional operations during the inference phase and subsequently reducing the detection time. In an effort to enhance the performance of the model, a hybrid attention module is incorporated to enhance the ability to focus on elongated targets. Finally, a row anchor lane detection method is introduced to analyze the existence and location of lane lines row by row in the image and output the predicted lane positions. The experimental outcomes illustrate that the model achieves F1 scores of 96.84% and 75.60% on the publicly available TuSimple and CULane lane datasets, respectively. Moreover, the inference speed reaches a notable 304 frames per second (FPS). The overall performance outperforms other detection models and fulfills the requirements of real-time responsiveness and robustness for lane detection tasks.