LPO-YOLOv5s:一个轻量级的倒机器人物体检测算法
Kanghui Zhao1, Biaoxiong Xie1, Xingang Miao1,2
1Beijing Engineering Research Center of Monitoring for Construction Safety, Beijing University of Civil Engineering and Architecture, Beijing 100044, China.
这项研究介绍了LPO-YOLOv5s,这是一种轻量级的深度学习模型,用于检测造机器人中的倒孔. 它大大降低了模型尺寸和计算成本,同时保持了高精度,使其能够部署在资源有限的机器人上.
科学领域:
- 机器人和自动化 机器人和自动化
- 计算机视觉 计算机视觉
- 人工智能的人工智能
背景情况:
- 传统的物体检测方法在造过程中难以准确.
- 深度学习模型用于倒孔检测是资源密集型的,阻碍了对机器人的部署.
- 准确识别和定位倒孔对于自动造至关重要.
研究的目的:
- 开发一种轻量级的物体检测算法,用于识别资源有限的造机器人中的倒孔.
- 为了提高自动造过程中倒孔检测的效率和准确性.
- 在嵌入式机器人系统上部署先进的计算机视觉模型.
主要方法:
- 一个轻量级的倒机器人洞探测算法,LPO-YOLOv5s,基于YOLOv5s被设计.
- MobileNetv3被集成为一个特征提取网络,以减少模型复杂性和参数.
- 使用深度可分离信息融合模块 (DSIFM) 和CARAFE进行特征上采样,以及动态头 (DyHead).
主要成果:
- 与YOLOv5s相比,LPO-YOLOv5s实现了参数大小减少45%,计算成本降低55%.
- 该模型在平均平均精度 (mAP) 中出现了0.1%的最小下降.
- 最终的模型尺寸减少到7.74 MB,满足倒机器人的部署要求.
结论:
- 拟议的LPO-YOLOv5s算法有效地解决了在资源有限的机器人上部署深度学习模型用于倒孔检测的挑战.
- 轻量级的设计确保了高效的性能,而不会对检测准确度造成重大损害.
- 这一进步促进了智能视觉系统在自动造操作中的集成.
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