YOLO-FFRD: Dynamic Small-Scale Pedestrian Detection Algorithm Based on Feature Fusion and Rediffusion Structure.

To address the challenges of detecting dynamic small targets such as pedestrians in complex dynamic environments for mobile robots, this paper proposes a dynamic small-target detection algorithm based on feature fusion and rediffusion structure, which is suitable for deployment on mobile robot platforms. Mobile robots can utilize depth camera information to identify and avoid small targets like pedestrians and vehicles in complex environments. Traditional deep learning-based object detection algorithms perform poorly when applied to the field of mobile robotics, especially in detecting dynamic small targets.