CODAN: Counting-driven Attention Network for Vehicle Detection in Congested Scenes

Although recent object detectors have shown excellent performance for vehicle detection, they are incompetent for scenarios with a relatively large number of vehicles. In this paper, we explore the dense vehicle detection given the number of vehicles. Existing crowd counting methods cannot directly applied for dense vehicle detection due to insufficient description of density map, and the lack of effective constraint for mining the spatial awareness of dense vehicles. Inspired by these observations, a conceptually simple yet efficient framework, called CODAN, is proposed for dense vehicle detection. The proposed approach is composed of three major components: (i) an efficient strategy for generating multi-scale density maps (MDM) is designed to represent the vehicle counting, which can capture the global semantics and spatial information of dense vehicles, (ii) a multi-branch attention module (MAM) is proposed to bridging the gap between object counting and vehicle detection framework, (iii) with the well-designed density maps as explicit supervision, an effective counting-awareness loss (C-Loss) is employed to guide the attention learning by building the pixel-level constrain. Extensive experiments conducted on four benchmark datasets demonstrate that the proposed method outperforms the state-of-the-art methods. The impressive results indicate that vehicle detection and counting can be mutually supportive, which is an important and meaningful finding.