eWaSR-一个嵌入式计算准备的海上障碍物检测网络
Matija Teršek1,2, Lojze Žust2, Matej Kristan2
1Luxonis Holding Corporation, Littleton, CO 80127, USA.
Sensors (Basel, Switzerland)
|July 8, 2023
概括
开发了一个新的海上障碍物检测网络,eWaSR,用于自动水面车辆 (ASV). 它提供了与WaSR相似的准确性,但运行速度快10倍,并且适合嵌入式设备.
科学领域:
- 机器人技术和自主系统
- 计算机视觉 计算机视觉
- 海事技术 在海事技术.
背景情况:
- 海上障碍物检测对于自动水面车辆 (ASV) 的安全航行至关重要.
- 目前先进的基于图像的检测方法,如WaSR,是计算密集型和耗费内存的,阻碍了它们在嵌入式系统上部署.
- 需要有效和准确的海上障碍探测解决方案,用于资源有限的平台上的实时应用.
研究的目的:
- 分析海上障碍物检测的最先进的 WaSR 网络的性能瓶.
- 通过优化计算密集型组件,提出一个名为eWaSR的嵌入式计算准备版本.
- 评估eWaSR在嵌入式硬件上的性能,速度和部署能力.
主要方法:
- 对 WaSR 网络架构进行分析,以确定计算上昂贵的模块.
- 通过基于轻量级变压器的方法重新设计关键网络阶段,以提高效率.
- 在标准GPU和嵌入式系统 (OAK-D) 上实施和测试拟议的eWaSR网络.
主要成果:
- eWaSR的检测性能与WaSR相当,F1得分仅下降了0.52%.
- eWaSR显著提高了速度,在标准GPU上运行速度比WaSR快10倍 (115 FPS与11 FPS相比).
- eWaSR在OAK-D嵌入式传感器上以5.5 FPS成功运行,而WaSR由于内存限制无法运行.
结论:
- eWaSR是第一个为嵌入式系统设计的实际海上障碍物检测网络.
- 拟议的网络为ASV导航提供了高检测精度和计算效率之间的平衡.
- eWaSR源代码和模型的公开可用性促进了嵌入式海上机器人技术的进一步研究和开发.
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