INU Researchers Develop Novel Deep Learning-Based Detection System for Autonomous Vehicles

Incheon National University
5 min readNov 30, 2023


The new system, aided by the Internet of things, improves the detection capabilities of autonomous vehicles even under unfavorable conditions.

A new object detection system utilizes the state-of-the-art YOLOv3 (You Only Look Once) algorithm, offering significantly improved detection capabilities even under unfavorable conditions and can, therefore, help autonomous vehicles become more mainstream.

Autonomous vehicles require object detection systems to navigate traffic and avoid obstacles on the road. However, current detection methods often suffer from diminished detection capabilities due to bad weather, unstructured roads, or occlusion. Now, a team of researchers have developed a novel Internet-of-Things-enabled deep learning-based end-to-end 3D object detection system with improved detection capabilities even under unfavorable conditions. This study marks a significant step in autonomous vehicle object detection technology.

Autonomous vehicles hold the promise of tackling traffic congestion, enhancing traffic flow through vehicle-to-vehicle communication, and revolutionizing the travel experience by offering comfortable and safe journeys. Additionally, integrating autonomous driving technology into electric vehicles could contribute to more eco-friendly transportation solutions.

A critical requirement for the success of autonomous vehicles is their ability to detect and navigate around obstacles, pedestrians, and other vehicles across diverse environments. Current autonomous vehicles employ smart sensors such as LiDARs (Light Detection and Ranging) for a 3D view of the surroundings and depth information, RADaR (Radio Detection and Ranging) for detecting objects at night and cloudy weather, and a set of cameras for providing RGB images and a 360-degree view, collectively forming a comprehensive dataset known as point cloud. However, these sensors often face challenges like reduced detection capabilities in adverse weather, on unstructured roads, or due to occlusion.

To overcome these shortcomings, an international team of researchers led by Professor Gwanggil Jeon from the Department of Embedded Systems Engineering at Incheon National University (INU), Korea, has recently developed a groundbreaking Internet-of-Things-enabled deep learning-based end-to-end 3D object detection system. “Our proposed system operates in real time, enhancing the object detection capabilities of autonomous vehicles, making navigation through traffic smoother and safer,” explains Prof. Jeon. Their paper was made available online on October 17, 2022, and published in Volume 24, Issue 11 of the journal IEEE Transactions on Intelligent Transport Systems on November 2023.

The proposed innovative system is built on the YOLOv3 (You Only Look Once) deep learning object detection technique, which is the most active state-of-the-art technique available for 2D visual detection. The researchers first used this new model for 2D object detection and then modified the YOLOv3 technique to detect 3D objects. Using both point cloud data and RGB images as input, the system generates bounding boxes with confidence scores and labels for visible obstacles as output.

To assess the system’s performance, the team conducted experiments using the Lyft dataset, which consisted of road information captured from 20 autonomous vehicles traveling a predetermined route in Palo Alto, California, over a four-month period. The results demonstrated that YOLOv3 exhibits high accuracy, surpassing other state-of-the-art architectures. Notably, the overall accuracy for 2D and 3D object detection were an impressive 96% and 97%, respectively.

Prof. Jeon emphasizes the potential impact of this enhanced detection capability: “By improving detection capabilities, this system could propel autonomous vehicles into the mainstream. The introduction of autonomous vehicles has the potential to transform the transportation and logistics industry, offering economic benefits through reduced dependence on human drivers and the introduction of more efficient transportation methods.

Furthermore, the present work is expected to drive research and development in various technological fields such as sensors, robotics, and artificial intelligence. Going ahead, the team aims to explore additional deep learning algorithms for 3D object detection, recognizing the current focus on 2D image development.

In summary, this groundbreaking study could pave the way for a widespread adoption of autonomous vehicles and, in turn, a more environment-friendly and comfortable mode of transport.



Authors: Imran Ahmed (1) , Gwanggil Jeon(2),* , and Abdellah Chehri (3)

Title of original paper: A Smart IoT Enabled End-to-End 3D Object Detection System for Autonomous Vehicles

Journal: IEEE Transactions on Intelligent Transport Systems



  1. School of Computing and Information Sciences, Anglia Ruskin University
  2. Department of Embedded Systems Engineering, Incheon National University
  3. Department of Mathematics and Computer Science, Royal Military College of Canada

*Corresponding author’s email:

About Incheon National University

Incheon National University (INU) is a comprehensive, student-focused university. It was founded in 1979 and given university status in 1988. One of the largest universities in South Korea, it houses nearly 14,000 students and 500 faculty members. In 2010, INU merged with Incheon City College to expand capacity and open more curricula. With its commitment to academic excellence and an unrelenting devotion to innovative research, INU offers its students real-world internship experiences. INU not only focuses on studying and learning but also strives to provide a supportive environment for students to follow their passion, grow, and, as their slogan says, be INspired.


About the author

Gwanggil Jeon received his B.S., M.S., and Ph.D. (summa cum laude) degrees from the Department of Electronics and Computer Engineering at Hanyang University, Seoul, Korea, in 2003, 2005, and 2008, respectively. From 2009 to 2011, he was with the School of Information Technology and Engineering, University of Ottawa, Ottawa, ON, Canada, as a Post-doctoral Fellow. From 2011 to 2012, he served as an Assistant Professor at the Graduate School of Science and Technology at Niigata University, Japan. From 2014 to 2015 and 2015.06 to 2015.07, he remained a Visiting Scholar at Centre de Mathématiques et Leurs Applications (CMLA), École Normale Supérieure Paris-Saclay (ENS-Cachan) in France. From 2019 to 2020, he served as a Prestigious Visiting Professor at Dipartimento di Informatica, Università degli Studi di Milano Statale, Italy. He has also been a visiting professor at Sichuan University, China, Universitat Pompeu Fabra, Barcelona, Spain, Xinjiang University, China, King Mongkut’s Institute of Technology Ladkrabang, Bangkok, Thailand, and University of Burgundy, Dijon, France. Dr. Jeon is currently a Full Professor at Incheon National University in Korea.

He is an Associate Editor of IEEE Transactions on Circuits and Systems for Video Technology (TCSVT), Elsevier Sustainable Cities and Society, IEEE Access, Springer Real-Time Image Processing, Journal of System Architecture, and Wiley Expert Systems. Dr. Jeon was a recipient of the IEEE Chester Sall Award in 2007, ACM’s Distinguished Speaker in 2022, the ETRI Journal Paper Award in 2008, and Industry-Academic Merit Award by Ministry of SMEs and Startups of Korea Minister in 2020.



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