《计算机应用》唯一官方网站 ›› 2021, Vol. 41 ›› Issue (11): 3234-3241.DOI: 10.11772/j.issn.1001-9081.2021010026
收稿日期:
2021-01-07
修回日期:
2021-02-03
接受日期:
2021-03-23
发布日期:
2021-04-15
出版日期:
2021-11-10
通讯作者:
李博
作者简介:
朱槐雨(1995—),男,四川自贡人,硕士研究生,主要研究方向:机器视觉、人工智能Huaiyu ZHU1, Bo LI2()
Received:
2021-01-07
Revised:
2021-02-03
Accepted:
2021-03-23
Online:
2021-04-15
Published:
2021-11-10
Contact:
Bo LI
About author:
ZHU Huaiyu, born in 1995, M. S. candidate. His research
interests include machine vision,artificial intelligence摘要:
无人机(UAV)航拍图像视野开阔,图像中的目标较小且边缘模糊,而现有单阶段多框检测器(SSD)目标检测模型难以准确地检测航拍图像中的小目标。为了有效地解决原有模型容易漏检的问题,借鉴特征金字塔网络(FPN)提出了一种基于连续上采样的SSD模型。改进SSD模型将输入图像尺寸调整为
中图分类号:
朱槐雨, 李博. 单阶段多框检测器无人机航拍目标识别方法[J]. 计算机应用, 2021, 41(11): 3234-3241.
Huaiyu ZHU, Bo LI. Single shot multibox detector recognition method for aerial targets of unmanned aerial vehicle[J]. Journal of Computer Applications, 2021, 41(11): 3234-3241.
目标检测模型 | mAP/% | 帧率/(frame·s-1) |
---|---|---|
R-CNN | 66 | 0.02 |
Fast R-CNN | 70 | 0.4 |
Faster R-CNN | 73 | 7 |
YOLO | 66 | 21 |
SSD300 | 77 | 46 |
SSD512 | 80 | 19 |
表1 不同目标检测模型在PASCAL VOC2007数据集上的mAP与帧率对比
Tab. 1 Comparison of mAP and frame rate of different target detection models on PASCAL VOC2007 dataset
目标检测模型 | mAP/% | 帧率/(frame·s-1) |
---|---|---|
R-CNN | 66 | 0.02 |
Fast R-CNN | 70 | 0.4 |
Faster R-CNN | 73 | 7 |
YOLO | 66 | 21 |
SSD300 | 77 | 46 |
SSD512 | 80 | 19 |
特征层 | Conv3_3 | Conv4_3 | fc7 | Conv6_2 | Conv7_2 | Conv8_2 | Conv9_2 | |||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | |
SSD | — | — | 30 | 60 | 60 | 111 | 111 | 162 | 152 | 213 | 213 | 264 | 264 | 315 |
CU-SSD | 16 | 32 | 32 | 64 | 64 | 118 | 118 | 173 | 162 | 227 | 227 | 282 | 282 | 336 |
表2 先验框尺寸
Tab. 2 Size of anchor box
特征层 | Conv3_3 | Conv4_3 | fc7 | Conv6_2 | Conv7_2 | Conv8_2 | Conv9_2 | |||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | Min_size | Max_size | |
SSD | — | — | 30 | 60 | 60 | 111 | 111 | 162 | 152 | 213 | 213 | 264 | 264 | 315 |
CU-SSD | 16 | 32 | 32 | 64 | 64 | 118 | 118 | 173 | 162 | 227 | 227 | 282 | 282 | 336 |
样本 | 图像数 | 样本数 |
---|---|---|
总数 | 1 510 | 14 596 |
飞机 | 1 000 | 7 482 |
汽车 | 510 | 7 114 |
表3 数据集组成
Tab. 3 Dataset composition
样本 | 图像数 | 样本数 |
---|---|---|
总数 | 1 510 | 14 596 |
飞机 | 1 000 | 7 482 |
汽车 | 510 | 7 114 |
模型 | AP/% | mAP/% | 帧率/(frame·s-1) | Size/MB | |
---|---|---|---|---|---|
car | plane | ||||
SSD | 69.33 | 91.84 | 80.58 | 13.6 | 91 |
FSSD | 62.04 | 90.24 | 76.14 | 13.0 | 105 |
RFBNet | 73.80 | 93.88 | 83.84 | 9.9 | 142 |
YOLOv3 | 86.07 | 94.06 | 90.07 | 12.0 | 235 |
CU-SSD | 93.44 | 96.12 | 94.78 | 9.0 | 79 |
表4 不同模型的性能结果
Tab. 4 Performance results of different models
模型 | AP/% | mAP/% | 帧率/(frame·s-1) | Size/MB | |
---|---|---|---|---|---|
car | plane | ||||
SSD | 69.33 | 91.84 | 80.58 | 13.6 | 91 |
FSSD | 62.04 | 90.24 | 76.14 | 13.0 | 105 |
RFBNet | 73.80 | 93.88 | 83.84 | 9.9 | 142 |
YOLOv3 | 86.07 | 94.06 | 90.07 | 12.0 | 235 |
CU-SSD | 93.44 | 96.12 | 94.78 | 9.0 | 79 |
融合层数 | AP/% | mAP/% | |
---|---|---|---|
car | plane | ||
0 | 89.49 | 94.34 | 91.92 |
2 | 90.04 | 94.84 | 92.44 |
3 | 90.85 | 95.06 | 92.96 |
4 | 92.44 | 96.24 | 94.34 |
5 | 93.44 | 96.12 | 94.78 |
6 | 93.12 | 95.90 | 94.51 |
表5 不同特征融合层数的实验结果
Tab. 5 Experimental results of different feature fusion layers
融合层数 | AP/% | mAP/% | |
---|---|---|---|
car | plane | ||
0 | 89.49 | 94.34 | 91.92 |
2 | 90.04 | 94.84 | 92.44 |
3 | 90.85 | 95.06 | 92.96 |
4 | 92.44 | 96.24 | 94.34 |
5 | 93.44 | 96.12 | 94.78 |
6 | 93.12 | 95.90 | 94.51 |
组别 | 改进模块 | AP/% | mAP/% | 帧率/(frame·s-1) | |||
---|---|---|---|---|---|---|---|
Conv3_3 | Fusion | anchors | car | plane | |||
1 | × | × | × | 69.33 | 91.84 | 80.58 | 13.6 |
2 | × | √ | × | 63.78 | 90.51 | 77.15 | 12.2 |
3 | × | × | √ | 85.18 | 94.15 | 89.66 | 9.6 |
4 | × | √ | √ | 89.19 | 94.28 | 91.74 | 9.6 |
5 | √ | × | √ | 89.49 | 94.34 | 91.92 | 9.2 |
6 | √ | √ | √ | 93.44 | 96.12 | 94.78 | 9.0 |
表6 不同改进模块的性能对比
Tab. 6 Performance comparison of different improved modules
组别 | 改进模块 | AP/% | mAP/% | 帧率/(frame·s-1) | |||
---|---|---|---|---|---|---|---|
Conv3_3 | Fusion | anchors | car | plane | |||
1 | × | × | × | 69.33 | 91.84 | 80.58 | 13.6 |
2 | × | √ | × | 63.78 | 90.51 | 77.15 | 12.2 |
3 | × | × | √ | 85.18 | 94.15 | 89.66 | 9.6 |
4 | × | √ | √ | 89.19 | 94.28 | 91.74 | 9.6 |
5 | √ | × | √ | 89.49 | 94.34 | 91.92 | 9.2 |
6 | √ | √ | √ | 93.44 | 96.12 | 94.78 | 9.0 |
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