# An anchor-free detector and R-CNN integrated neural network architecture for environmental perception of urban roads

> Research article (Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3193543749](https://www.wikidata.org/wiki/openalex:W3193543749)  
**Source**: https://4ort.xyz/entity/an-anchor-free-detector-and-r-cnn-integrated-neural-network-architecture-for-environmental-perception-of-urban-roads