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基于Cascade R-CNN的玉米幼苗检测

Detection Method of Corn Seedling Based on Cascade R-CNN

  • 摘要: 准确识别玉米幼苗是实现自动化精准除草、间苗、补种等苗期作业的重要前提。为此,针对自然环境下农业机器人对玉米幼苗的检测问题,结合深度残差网络强大的特征提取能力和级联网络连接多个检测器不断优化预测结果的特点,对Cascade R-CNN模型进行改进,使之适用于自然环境下玉米幼苗的检测。模型使用残差网络ResNet-50与特征金字塔网络FPN作为特征提取器提取玉米幼苗图像的特征图,利用区域建议网络生成目标候选框,通过感兴趣区域池化将不同大小的特征图转换为统一尺寸的输出;最后,分类回归模块根据特征图对目标进行分类,并使用边框回归修正候选框的位置和大小,从而完成玉米幼苗目标检测。同时,以3~5叶期玉米幼苗为研究对象,采集其田间图像并制作数据集,用所制作的数据集对Cascade R-CNN模型进行训练,选取AlexNet、VGG16、ResNet18、ResNet50与ResNet50+FPN分别作为特征提取网络进行对比试验,确定所提出的ResNet50+FPN为最优特征提取网络,平均精度均值(mAP)为91.76%,平均检测时间为6.5ms。选取双阶段目标检测模型Faster R-CNN、R-FCN、CoupleNet与以ResNet50+FPN为特征提取网络的Cascade R-CNN进行对比实验,结果表明:Cascade R-CNN模型检测效果最佳、速度最快,且能对自然环境下的玉米幼苗进行有效检测,可为玉米苗期自动化精准作业提供技术支持。

     

    Abstract: Accurate identification of maize seedlings is an important prerequisite for the realization of automatic and accurate weeding, thinning, replanting and other seedling operations. In this paper, based on the characteristics of CNN cascade neural network and cascade neural network,a fast and accurate detection method for corn seedling is proposed. Firstly, the feature map of corn seedling image is extracted by ResNet50 and FPN,and the regional coordinate feature is extracted by RPN(Region Proposal Network). Then, the feature map of fixed size is obtained by Ro IAlign layer, and the output module is used to calculate the classification, regression and segmentation of the feature map to complete the calculation of the specific orientation, category and contour of crops. In this study, field images of 3-5 leaf maize seedlings were collected and data sets were made R-CNN model is trained, and AlexNet, VGG16, ResNet18, ResNet50 and ResNet50 + FPN are selected as feature extraction networks respectively for comparative experiments. Resnet50 + FPN is determined as the optimal feature extraction network, with the average accuracy(mAP) of 91. 76% and the average detection time of 6. 5ms; fast, a two-stage target detection model, is selected R-CNN, R-FCN and CoupleNet are compared with Cascade R-CNN which takes ResNet50 + FPN as feature extraction network. The results show that Cascade R-CNN has the best model detection effect and the fastest speed. Therefore, this method can effectively detect corn seedlings in the natural environment, and provide technical support for automatic precision operation of corn seedlings.

     

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