To avoid colliding with trees during its operation, a lawn mower robot must detect the trees. Existing tree detection methods suffer from low detection accuracy (missed detection) and the lack of a lightweight model. In this study, a dataset of trees was constructed on the basis of a real lawn environment. According to the theory of channel incremental depthwise convolution and residual suppression, the Embedded-A module is proposed, which expands the depth of the feature map twice to form a residual structure to improve the lightweight degree of the model. According to residual fusion theory, the Embedded-B module is proposed, which improves the accuracy of feature-map downsampling by depthwise convolution and pooling fusion. The Embedded YOLO object detection network is formed by stacking the embedded modules and the fusion of feature maps of different resolutions. Experimental results on the testing set show that the Embedded YOLO tree detection algorithm has 84.17% and 69.91% average precision values respectively for trunk and spherical tree, and 77.04% mean average precision value. The number of convolution parameters is 1.78 × 106, and the calculation amount is 3.85 billion float operations per second. The size of weight file is 7.11 MB, and the detection speed can reach 179 frame/s. This study provides a theoretical basis for the lightweight application of the object detection algorithm based on deep learning for lawn mower robots.
LV Feng(吕峰), WANG Xinyan* (王新彦), LI Lei(李磊), JIANG Quan(江泉), YI Zhengyang(易政洋)
. Tree Detection Algorithm Based on Embedded YOLO Lightweight Network[J]. Journal of Shanghai Jiaotong University(Science), 2024
, 29(3)
: 518
-527
.
DOI: 10.1007/s12204-022-2451-4
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