Signal, Image and Video Processing (2022) 16:1913–1923

https://doi.org/10.1007/s11760-022-02151-0

ORIGINAL PAPER

Human and object detection using Hybrid Deep Convolutional Neural

Network
P. Mukilan1 · Wogderess Semunigus1

Received: 19 March 2021 / Revised: 9 December 2021 / Accepted: 16 January 2022 / Published online: 1 March 2022
© The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2022

Abstract
In recent years, human and object detection has increased research in different real-time applications. Due to improvement in
the field of deep learning, various methods have been designed for human, object detection and recognition. Hence, Hybrid
Deep Convolutional Neural Network (HDCNN) is developed for human and object detection from the video frames. The
HDCNN is a combination of Convolutional Neural Network (CNN) and Emperor Penguin Optimization (EPO). Here, EPO
is utilized to increase the system parameters of the CNN structure. Initially, pre-processing is applied to eliminate the noise
presented in the image and image quality is enhanced. Here, the Gaussian filter is used for the background subtraction in the
images. The three different types of databases are considered to validate the proposed methodology. The proposed HDCNN
method is tested in MATLAB and compared with existing methods like Deep Neural Network (DNN), CNN and CNN-Firefly
Algorithm (FA), respectively. The proposed method is justified with the statistical measurements like accuracy, precision,
recall and F-Measure, respectively.

Keywords Object detection · Deep learning · Emperor · Kernel parameters · CNN · Firefly algorithm

Abbreviations 1 Introduction
ALO Ant-Lion Optimization
Recently, the Unmanned Aerial Vehicles (UAV) have been
ANN Artificial Neural Networks
increased in modern world and have the ability to operate
CNN Convolutional Neural Network
a different kind of missions that are considered inaccessi-
DNN Deep Neural Network
ble and dangerous of humans such as forest surveillance
DL Deep Learning
and nuclear power plant. Hence, visual detection of human
FA Firefly-Algorithm
instances with their object detection and computing human
IoT Internet of Things
actions has been considered as main important aim of the sys-
GA Genetic Algorithms
tem [1]. The human and object detection emphasizes objects
HDCNN Hybrid Deep Convolutional Neural Network
which provide interest in a video, and this has emerged as
IMFF Improved Multi-scale Feature Fusion
an active section of research because of its usage of different
MODT Multi-Object Detection and Tracking
applications such as action recognition, object segmentations
PSO Particle Swarm Optimization
and object tracking. Already, know that, the data from a mov-
RNN Recurrent Neural Network
ing object are an important and required for supporting the
SSD Single Shot Multi-box Detector
human and object video calculation [2, 3]. The human and
SVM Support Vector Machine
object detection is computing the object motion with the
UAV Unmanned Aerial Vehicles
consideration of optical flow which most minute variation
VSP-GMN Visual Semantic Pose Graph Matrix Network
regarding changes and illumination in specified location [4].
Recognizing human and object interaction can be a class of
B P. Mukilan
venmukilan@bhu.edu.et relationship in the visual detection where operation is too
related to localized combination of object and human; in
1 Department of Electrical and Computer Engineering, College addition, it should infer the relation among them, for exam-
of Engineering and Technology, Bule Hora University, Bule
ple, "driving a car," "eating and apple."
Hora, Ethiopia

123
1914
These relations are computed from the video that is con-
sidered as a human and object detection, and it is a main
challenging task [5]. This human object detection is a critical
task because the collected image may contain same human
continuously interacting with different objects ("type on lap-
top and sit on a couch"), fine granites interactions ("jump
horse," "feed horse," "walk horse"), multiple humans oper-
ations the same interaction with objects, multiple humans
doing same interaction and object ("throw and catch ball").
Abovementioned statements are difficult in detection of
human and object from the images [6]. These problems must
consider to develop an optimal method for object detection
in video. Additional, spatial data analysis is also important
to detect the human and object detection which is also diffi-
cult due to variations of the humans and objects in video. To
resolve the moving parts in the video, scale invariant methods
are utilized which identify the moving parts of the human as
well as object [7]. The object shape is also important to iden-
tify the fined object detection which also achieved with the
help of various features, for example shape feature. Different
kinds of features are obtainable to recognize the human and
object from the video. But the separate features increase the
difficulty of the work [8].
The numerous approaches are developed by researchers
for noticing humans and objects in video. These approaches
are machine learning, DL and optimization algorithm respec-
tively [9]. Various Machine learning technologies are applied
to detect objects and humans from the image obtained from
the video. The large volume of incoming data is too much for
the machine learning algorithm to handle. DL algorithms are
being studied to recognize objects and individuals from video
footage in order to manage the massive amount of data as an
input [10]. Many alternative DL approaches are available for
example Convolutional Neural Network (CNN), Recurrent
Neural Network (RNN), and Deep Reinforcement Learning,
are available to manage the massive input data as well as
person and object recognition.
The most significant advantage of DL is that it can per-
form feature engineering on its own. In a DL technique, an
algorithm scans the data to detect features that correlate and
then combines them to facilitate rapid learning. The main
advantages of DL are mentioned as below,
• Feature engineering is no longer required
• Data labeling is no longer necessary
• The ability to offer high-quality solutions is now possible,
and unneeded resources are no longer incurred.
• Feature Generation Automation
• Works Well With Unstructured Data
• Better Self-Learning Capabilities
• Supports Parallel and Distributed Algorithms
• Cost-Effectiveness
• Advanced Analytics
123
Signal, Image and Video Processing (2022) 16:1913–1923
• Scalability
From the deep learning methods, the CNN is most suit-
able for image-based researches which attains best detection
accuracy in various applications. Hence, CNN is considered
in this research, but the structure of CNN is difficult. To
achieve the better CNN design, meta-heuristic methods are
used in many researchers such as Genetic Algorithms (GA),
Firefly Algorithm (FA), Particle Swarm Optimization (PSO)
and Ant-Lion Optimization (ALO), respectively.
Here, develop a hybrid approach for perceiving the human
and object images. The proposed hybrid approach is a
combination of Convolutional Neural Network (CNN) and
Emperor Penguin Optimization (EPO). To empower the per-
formance of CNN the EPO will be utilized for selecting
optimal network parameters.
The main objective of the work is to validate the gait
recognition relating to a binary class under the classification
problem throughout the person and objects.
The proposed methodology is working with four phases
such as pre-processing phase, feature extraction phase, activ-
ity recognition phase, and authentication phase. In the
pre-processing phase, the unwanted noise is eliminated with
the help of an average smoothing filter.
In the feature extraction phase, the twelve different fea-
tures are extracted such as entropy, energy, absolute latency
to amplitude ratio, peak to peak slope, peak to peak time,
peak to peak signal variation, skewness, kurtosis, variance,
mean, minimum amplitude and maximum amplitude. In the
activity recognition phase, the proposed approach is utilized
to recognize the activities.
The organization of the paper is as presented as below,
the recent literature is reviewed in Sect. 2, and the proposed
methodology is presented in Sect. 3. The performance analy-
sis part is mentioned as in Sect. 4, and the conclusion section
is described in Sect. 5.
2 Recent analysis of literature review
Numerous researchers are focused to identify human and
object from the videos. Approximately the research is
reviewed in this section.
Gong et al. [11] explained the Single-Shot Multi-box
Detector (SSD) with Improved Multi-scale Feature Fusion
(IMFF) for real-time recognition and detection positioning.
Initializing, the multi-scale features were extracted with the
help of SSD network. Additionally, this feature combination
of sensitive and position data achieved with the help of low-
level detail features. And, context information is achieved
with the help of high-level semantic features. The combined
features were collected from the feature fusion that opti-
mally enhances the accuracy in terms of position of the SSD
Signal, Image and Video Processing (2022) 16:1913–1923
network with their target prediction layer. After that, a fea-
ture combined prediction design was enhanced the semantics
of target features without varying spatial resolution of the
prediction layer in SSD. The complete SSD network config-
uration can be enhanced the accuracy in the human movement
recognition.
Pérez-Hernández Perez et al. [12] described the improved
CNN to identify the objects from the image. The CNN was
utilized to identify the small objects in the video clips. In
the presented method, two-level operation was considered
which is working by deep learning such as object detection as
well as binary classifier. The initial level selected the optimal
regions from the input frame. Then the next level was applied
a binarization method based on a CNN classifier. The CNN
classifier was working by one-versus-one and one-versus-all.
The presented method was tested with the detecting weapons
and objects from the video surveillance cameras. The pre-
sented was validated with six different types of objects such
as card, purse, bill, smartphone, knife and pistol.
A visual semantic posture graph matrix network (VSP-
GMN) for human and object interaction was demonstrated
by Zhijun Liang et al. [13]. Their method was powered by a
two-stream network that successfully identifies a variety of
contextual cues, such as spatial and visual, from both main
and secondary subject–object relationships. The human pose
features were also calculated using a modular network.
Elhoseny et al. [14] carried out a multi-object detec-
tion and tracking (MODT) for identifying and detecting the
objects from the video frames. Matveev et al. [15] proposed
a set of dimensional-based features for quick object recog-
nition in public spaces. The extraction and classification of
characteristics was a straightforward operation that allowed
Internet of Things (IoT) devices to run on little power. The
overall analysis of the literature review section is presented
in Table 1.
3 Design of proposed system
Deep learning (DL) has become increasingly popular in the
detection of humans and objects in recent years. In many
applications, such as speech recognition, computer vision
and natural language processing, neural networks based on
deep learning technologies are presently numerous times
superior to standard machine learning approaches. As the
number of errors decreases, the level of precision increases
[16, 17]. The ability of a DL technique to execute feature
engineering on its own is one of the most significant advan-
tages of using it. In this strategy, an algorithm looks for traits
that correlate in the data and then combines them to encour-
age faster learning without being explicitly told to do so
[18]. The proposed technique is built and proven to detect
both humans and objects. To determine the findings, deep
1915
learning is employed to obtain a significant amount of data.
The proposed method detects both the human and the item
from the image collection in the most efficient manner fea-
sible. Figure 1 depicts the entire framework of the suggested
approach. The data were acquired through an open-source
system at first. Following that, video frames are split into
individual frames that can be utilized to distinguish people
and detect things. It is possible that the image contains noise
as well as unwanted information. After the pre-processing
step is finished, CNN is used to start the classification phase.
The CNN constraints are improved with the help of EPO.
These modeling elements are described in depth in the fol-
lowing section.
3.1 Video to frame conversion
The incoming video frames are split up into multiple frames
for people and objects. When frame count is taken into
account, person and object detection is done from the video.
A single frame is rarely enough to recognize a person or
an object in a movie. It can also be used to build a detection
backdrop frame [19]. As seen in Fig. 1, these changed frames
are applied to recognize human and object detection. The
diagram’s working flow is shown in Fig. 2b, along with the
pseudocode, after which the collected images are employed
in additional detection and pre-processing processes.
3.2 Noise removal
The pre-processing model removes noise from video frames
while also improving image contrast [20]. Every frame of
video changes the item and human movement, and as a result,
detection may not obtain the optimum results. The Gaussian
filter is used in the proposed model to remove undesired fea-
tures and noises from the images during the extraction phase.
The Gaussian model can be expressed in the following way:
2
1 − f
M( f )  √ e 2σ 2 (1)
2π σ 2
where σ is described as standard deviation and f is
denoted as the underframe distance [19]. The standard devi-
ation operation is a type of two-dimensional convolution that
is used to blur photographs. The photographs are then cleaned
up to remove any undesirable information or noise.
3.3 Background subtraction
Most of the videos or images, the region of interest is evalu-
ated based on their changes presented in the individuals and
items. As a result, object and human detection necessitates
123
1916 Signal, Image and Video Processing (2022) 16:1913–1923

Table 1 Comparison of literature papers

Author/year Methodology Objective Advantages Disadvantages

Gong et al.[11] (2020) Single-Shot Multi-Box IMFF-SSD is being used For human body moving At various scales, the
Detector (SSD)-based to solve challenges in object identification, SSD network failed to
Multi-scale Feature real-time human moving high positioning and detect human moving
Fusion (IMFF-SSD) systems and target motion recognition targets. For various
detection method detection, monitoring, accuracy were achieved weather conditions,
location, and recognition illumination, and
filming angles, it is
unsatisfactory
Pérez-Hernández et al. ODBC-based deep Six small things, such as a Achieved robustness, Noisy instances are not
[12] (2020) learning methodology pistol, knife, accuracy and reliability clearly removed
is named as CNN smartphone, bill, to identify small objects
classifier with pocketbook, and card, handled from detection
One-Versus-All (OVA) are handled similarly to videos
and One-Versus-one weapons in test
(OVO) surveillance footage to
improve the baseline
detection
Elhoseny et al. [14] MODT with probability- To analyze Multi-Object Achieved maximum Due to occlusions and
(2020) based grasshopper (MO) detection in detection rate and distractions in the
algorithm (PGA) with objects from video tracking rate object’s surroundings,
Kalman filtering surveillance like image backdrops
method and background noise,
tracking moving targets
is difficult. Even yet,
different motion
estimating approaches
are required for MODT
analysis to attain a
higher detection rate
Matveev et al. [15] A fast detection and Recognize moving objects At low-performance and The detection range is
(2020) classification method in urban situations such low-energy limited, the detection
with low-power as pedestrians, cyclists consumption, error rate is high, and
and cars traveling at background subtraction the price is exorbitant
speeds up to 60 km/h evaluates moving objects
with ranges of up to 25 m distance, width and
height

extracting and detecting them from a continual background.
The background subtraction is expressed mathematically
expressed as below:
S.F  {A.F − backgr oundimage} (2)

S.Fi f S.F ≥ t
Backgr oundsubstraction  (3)
0i f S.F < t 1
where t is denoted as reference value in the subtraction
procedure. The goal of the background removal process is to
determine the object’s frontal areas in noiseless video frames.
Most of the videos or images, the region of interest is evalu-
ated based on their changes presented in the individuals and
items. As a result, object and human detection necessitates
extracting and detecting them from a continual background.
3.4 CNN model design
The feature extractor and classifier are the two main compo-
nents of the CNN architecture. Every layer in the network
takes the output of its rapid previous layer as input and sends
its output as input to the upcoming layer in feature extrac-
tion layers. This CNN design is depicted in Fig. 2 and is
made up of three different sorts of layers. Convolution, max-
pooling and classification are the three methods. Convolution
and max-pooling layers are found in the middle and lower
network levels. Odd layers are utilized for max pooling, and
even layers are used for convolution. Every layer plane is
usually created by combining one or more layers from the
layer before it. The nodes planes are linked to a minor part
of every level attached to the previous level. Every node on
convolutional layer extracted the elements from the input
images. Higher-level objects come from objects that expand

123
Signal, Image and Video Processing (2022) 16:1913–1923 1917

Fig. 1 Structure of the proposed method

to lower-level layers. As functions are expanded to the high- of input and output feature maps cannot change in this layer.
est layer or level, the sizes of the functions are minimized to For instance, if the input maps are here meant; then, defi-
match the size of the convolution kernel or maximum join nitely there are output maps. Because of the sample reduction
operations. Nonetheless, the number of feature maps is usu- process, the output maps every dimension size is decreased
ally enlarged to demonstrate the best input image properties according to downsampling mask reduction. The following
and assure the classification accuracy [21]. The output of the equation expressed that every dimension of output is half of
CNN last layer is used as the input of the classification layer, every input dimension for entire images, for example, 2 × 2
which is a fully linked network. Because feedback neural sample reduction kernel is used.
networks perform best at the classification layer and the iso-

lated properties are utilized as input indicating the size of x lj  down x l1 (5)
j
the weight matrix of the outcome, and they were used as a
classification layer. Various CNN layers are explained in the 
next section. Here, down x l1
j is sub-sampling function. In this layer,
Preceding layers are convolved among learnable kernels. mostly two various operations are presented such as average
Every yield feature map can be combination with more than pooling and max-pooling.
one input feature map.
⎛ ⎞ 3.6 Classification layer

x lj  f ⎝ xil−1 ∗ kil j + blj ⎠ (4) It is a fully linked layer that calculates the outcome for each
i∈M j
class using the properties taken from the convolutional layer
in the preceding steps. The EPO algorithm is used to select the
Here, x lj is current layer output, xil−1 —output of the previ- best kernel parameters in the CNN structure. The following
ous layer, kil j —the kernel for the present layer and blj —biases is a detailed description of EPO.
for the current layer. M j is input map selection and for every Pseudocode:
output map b additive biases are provided. Input: video frames.
Output: classified shots.
3.5 Sub-sampling layer Steps:

The layer of sub-sampling is less functional for input files. (i) Isolate the video frames into equal size of blocks with
This is generally recognized as the pooling layer. The number dimension p*q

123
1918 Signal, Image and Video Processing (2022) 16:1913–1923

Fig. 2 Analysis of a CNN model human and object detection and b detail steps

(ii) Apply preprocessing process on the blocks and estimate 3.7 Emperor penguin optimization
the Euclidean distance between the blocks of adjacent
frames. In the HDCNN network, the optimal design parameter of
(iii) Apply feature extraction phased and extracted the fea- CNN is selected with the help of EPO algorithm. The
tures from the input video and images. emperor penguin is the largest and massive of all penguin
(iv) if distance <—thresh then species. Based on the plumage and size of the female and
male emperor penguins, both are very identical. Throughout
Frame belongs to Human shot the breeding season, emperor penguins are found in large
Else colonies, including hundreds of thousands of emperor pen-
Frame belongs to Object shot guins. To arrive at the ocean for hunting, the female EPO
End if travels 50 miles. At sea, the EPO can dive to a depth of

123
Signal, Image and Video Processing (2022) 16:1913–1923 1919

Fig. 3 Preprocessing and

detection results of
a PETS09-S2L1, b car and
c forensic

1,900 feet and remain underwater for more than 25 min [22].
Emperor penguins regularly take a stand during huddling at
the limits of the polygon network. To determine the boundary
of the huddle around the polygon, the flow of wind around
the huddle is defined. The complicated variable concepts are
utilized to represent the randomly produced huddle boundary
of the emperor penguin.
 is velocity of wind,—gradient of . To make the
complex potential, vector  is combined with .
F   + i (7)
Here, i is imaginary constant and F—analytical function
on the polygon plane.

ψ  ∇ (6)

123
1920 Signal, Image and Video Processing (2022) 16:1913–1923

Table 2 Design factors of the proposed method

S. No Method Description Value

1 HDCNN Batch size (Maximum) 500

2 Momentum 0.9
3 Initial population 50
4 Iteration (Maximum) 100
5 Initial learn rate 0.05
6 Inertia factor 0.7298
7 DNN Input node 100
8 Hidden layer 50
9 Weight decay 0.0001

Table 3 Formula for Statistical measurements

S. No Description Formula

TP+TN
1 Accuracy TP+TN+FP+FN
TP
2 Precision TP+FP
TP
3 Recall TP+FN
2∗TP
4 F-Measure 2∗TP+FP+FN

3.8 Temperature profile around the huddle

Mathematical representation assumes that the temperature

T  0, while the polygon radius R > 1 and temperature
T  1, while the radius R < 1. The temperature profile
around the huddle T  is calculated below

Maxiteration
T  T − (8)
x − Maxiteraion

0, i f D > 1
T  (9)
1, i f D < 1

Here, xis current iteration, Maxiteration —maximum num-

ber of iterations, D—radius and T —time for evaluating best
optimal solution in a search space.

Fig. 4 Sample input video of a PETS09-S2L1, b car and c forensic

3.9 Relocate the mover

According to the levels of Emperor Penguin, the best gained

optimal solution is updated [23]. To improve the Emperor
Penguin’s following position, the below equation is proposed
−→ −−→ −→
Pep (x + 1)  P(x) − A. Dep
Based on EPO algorithm, the CNN design factors are opti-
mally chosen which improves the detection accuracy of the
object detection. The performance of the proposed method
is presented in below section.
4 Results and discussion
(10) Here, the analysis of proposed methodology is validated and
this is implemented in MATLAB with the 4 GB RAM com-
puter and Intel i7 processor. The proposed method is designed
to recognize the human and object interaction which vali-
dated with the three-dataset collection such as car database,
PETS09-S2L1 and surveillance videos in forensic database.

123
Signal, Image and Video Processing (2022) 16:1913–1923
These databases are collected from [24]. From the PETS09-
S2L1 dataset, the input video has the resolution 768 × 576
and the length is 795 (01:54). It has 19 tracks and 4476 boxes.
The databases are utilized to validate the proposed method-
ology for identifying the human and object interaction and
object detection from the video frames. Additionally, the
proposed methodology is validated with the help of com-
parison analysis. The proposed method can be compared
with existing methods such as DNN, CNN and CNN-FA,
respectively. The design factors of the proposed method are
tabulated in Table 2. To validate the proposed methodology,
three databases are used in this paper. Sample input frames
of the video are illustrated in Fig. 3.
The sample input images are depicted in Fig. 4 which
is extracted from the video. The statistical measurements
are computed based on confusion matrix computations. The
Fig. 5 Proposed training and testing measurements
1921
mathematical formulations of the statistical measurements
are presented in Table 3.
While utilizing the proposed method, the testing and train-
ing measurements are depicted in Fig. 5. Based on that, the
statistical measurements of the proposed as well as existing
methods are illustrated in Fig. 6. From Fig. 6a, the com-
parison analysis of accuracy is presented. So, the proposed
method has been achieved; the maximum and minimum
accuracy is 0.92–0.95 rate. Similarly, the DNN has been
achieved; the maximum and minimum accuracy is 0.89–0.92.
The CNN has been achieved; the maximum and minimum
accuracy is 0.78–0.82. The CNN-FA has been achieved;
the maximum and minimum accuracy is 0.72–0.89. From
Fig. 6b, the comparison analysis of precision is presented.
So, the proposed method has been achieved; the maxi-
mum and minimum precision is 0.91–0.97 rate. Similarly,
123
1922 Signal, Image and Video Processing (2022) 16:1913–1923

the DNN has been achieved; the maximum and minimum

precision is 0.85–0.89. The CNN has been achieved; the max-
imum and minimum precision is 0.72–0.79. The CNN-FA
has been achieved; the maximum and minimum preci-
sion is 0.89–0.95. From Fig. 6c, the comparison analysis
of recall is presented. So, the proposed method has been
achieved; the maximum and minimum recall is 0.95–0.97
rate. Similarly, the DNN has been achieved; the maxi-
mum and minimum recall is 0.82–0.89. The CNN has been
achieved; the maximum and minimum recall is 0.79–0.85.
The CNN-FA has been achieved; the maximum and min-
imum recall is 0.82–0.89. From Fig. 6d, the comparison
analysis of accuracy is presented. So, the proposed method
has been achieved; the maximum and minimum F-Measure
is 0.95–0.96 rate. Similarly, the DNN has been achieved; the
maximum and minimum F-Measure is 0.82–0.90. The CNN
has been achieved; the maximum and minimum F-Measure
is 0.79–0.85. The CNN-FA has been achieved; the maximum
and minimum F-Measure is 0.79–0.91. From the overall anal-
ysis, we can conclude the proposed method is achieved the
best results more than the existing methods.

5 Conclusion

In this paper, HDCNN has been developed to detect object

and human in videos optimally. The proposed method is a
combination of CNN and EPO. The CNN design parameters
are optimally chosen with the help of EPO algorithm. The
proposed algorithm has the ability to identify the object as
well as humans from the videos. The proposed algorithm has
been detected the object and human without noise even under
very low level of illumination. Statistical metrics such as
accuracy, precision, recall and F-Measure have all been used
to validate the suggested technique. The proposed approach
was compared to DNN, CNN and CNN-FA, which are all
existing methods. The proposed strategy produces the finest
results in terms of statistical measurements, according to
the comparative study. In the future, various dataset will be
analyzed and compared with the different methods. The sta-
tistical performances of various methods are needed to be
analyzed. In future, video is captured from indoor and out-
door environment and analyzed their results.

References
1. Dey, L., Chakraborty, S., Mukhopadhyay, A.: Machine learning
techniques for sequence-based prediction of viral–host interac-
tions between SARS-CoV-2 and human proteins. Biomed. J. 43(5),
438–450 (2020)
2. Randhawa, P., Shanthagiri, V., Kumar, A., Yadav, V.: Human
activity detection using machine learning methods from wearable
Fig. 6 Comparative analysis of proposed method a accuracy, b preci- sensors. Sensor Rev. (2020)
sion, c recall and d F-Measure

123
Signal, Image and Video Processing (2022) 16:1913–1923
3. Minor, E.N., Howard, S.D., Green, A.A.S., Glaser, M.A., Park,
C.S., Clark, N.A.: End-to-end machine learning for experimental
physics: using simulated data to train a neural network for object
detection in video microscopy. Soft Matter 16(7), 1751–1759
(2020)
4. Kousik, N.V., Natarajan, Y., Raja, R.A., Kallam, S., Patan, R.,
Gandomi, A.H.: Improved salient object detection using hybrid
Convolution Recurrent Neural Network. Expert Syst. Appl. 166,
114064 (2020)
5. Jin, L., Yang, J., Kuang, K., Ni, B., Gao, Y., Sun, Y., Gao, P.,
et al.: Deep-learning-assisted detection and segmentation of rib
fractures from CT scans: development and validation of FracNet.
Biomedicine 62, 103106 (2020)
6. Jung, M., Chi, S.: Human activity classification based on sound
recognition and residual convolutional neural network. Autom.
Constr. 114, 103177 (2020)
7. Fu, K., Zhang, T., Zhang, Y., Sun, X.: OSCD: a one-shot conditional
object detection framework. Neurocomputing (2020)
8. Freire-Obregón, D., Castrillón-Santana, M., Barra, P., Bisogni, C.,
Nappi, M.: An attention recurrent model for human cooperation
detection. Comput. Vis. Image Understand. 102991 (2020)
9. Xiong, Q., Zhang, J., Wang, P., Liu, D., Gao, R.X.: Transferable
two-stream convolutional neural network for human action recog-
nition. J. Manuf. Syst. 56, 605–614 (2020)
10. Deguchi, M.: Simple and low-cost object detection method based
on observation of effective permittivity change. Microelectron. J.
95, 104678 (2020)
11. Gong, M., Shu, Y.: Real-time detection and motion recognition
of human moving objects based on deep learning and multi-scale
feature fusion in video. IEEE Access 8, 25811–25822 (2020)
12. Pérez-Hernández, F., Tabik, S., Lamas, A., Olmos, R., Fujita,
H., Herrera, Fo.: Object detection binary classifiers methodology
based on deep learning to identify small objects handled similarly:
application in video surveillance. Knowl-Based Syst. 194, 105590
(2020)
13. Liang, Z., Rojas2†∗, J., Liu, J., Guan, Y.: Visual-semantic-pose
graph mixture networks for human-object interaction detection,
(2020)
14. Elhoseny, M.: Multi-object detection and tracking (MODT)
machine learning model for real-time video surveillance systems.
Circuits Syst. Signal Process. 39(2), 611–630 (2020)
1923
15. Matveev, I., Karpov, K., Chmielewski, I., Siemens, E., Yurchenko,
A.: Fast object detection using dimensional based features for pub-
lic street environments. Smart Cities 3(1), 93–111 (2020)
16. O’Shea, T., Hoydis, J.: An introduction to deep learning for the
physical layer. IEEE Trans. Cognit. Commun. Netw. 3(4), 563–575
(2017)
17. Aceto, G., Ciuonzo, D., Montieri, A., Pescapé, A.: mobile
encrypted traffic classification using deep learning: experimen-
tal evaluation, lessons learned, and challenges. IEEE Trans. Netw.
Serv. Manage. 16(2), 445–458 (2019)
18. Aceto, G., Ciuonzo, D., Montieri, A., Pescapé, A.: Toward effec-
tive mobile encrypted traffic classification through deep learning.
Neurocomputing 409, 306–315 (2020)
19. Mukilan, P., Semunigus, W.: Human object detection: An enhanced
black widow optimization algorithm with deep convolution neural
network. Neural Comput. Appl. (2021)
20. Chaudhary, V., Kumar, V.: Fusion of multi-exposure images using
recursive and Gaussian filter. Multidimension. Syst. Signal Process.
31(1), 157–172 (2020)
21. Kun, Fu., Chang, Z., Zhang, Y., Guangluan, Xu., Zhang, K., Sun,
X.: Rotation-aware and multi-scale convolutional neural network
for object detection in remote sensing images. ISPRS J. Pho-
togramm. Remote. Sens. 161, 294–308 (2020)
22. Harifi, S., Khalilian, M., Mohammadzadeh, J., Ebrahimnejad, S.:
Optimizing a neuro-fuzzy system based on nature inspired emperor
penguins colony optimization algorithm. IEEE Trans. Fuzzy Syst.
(2020)
23. Harifi, S., Khalilian, M., Mohammadzadeh, J., Ebrahimnejad, S.:
Optimization in solving inventory control problem using nature
inspired Emperor Penguins Colony algorithm. J. Intell. Manuf.
1–15 (2020)
24. https://motchallenge.net/vis/PETS09-S2L1
Publisher’s Note Springer Nature remains neutral with regard to juris-
dictional claims in published maps and institutional affiliations.
123