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The experimental results show that our algorithm has an advantage over anchor-based single-stage object detection algorithms and achieves an advanced level in average accuracy. Researchers can replicate the reported results of this paper.There is a group of users within the vehicular traffic ecosystem known as Vulnerable Road Users (VRUs). VRUs include pedestrians, cyclists, motorcyclists, among others. On the other hand, connected autonomous vehicles (CAVs) are a set of technologies that combines, on the one hand, communication technol
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