Multi-scale Small Target Detection for Indoor Mobile Rescue Vehicles Based on Improved YOLOv5

IF 1.5 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Maoyue Li, Tenghui Yang, Shengbo Xu, Lingqiang Meng, Zhicheng Liu
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Abstract

To solve the problems that the YOLOv5 object detection network has low detection accuracy, false detection, and missed detection of small objects for trapped people and medical rescue supplies when there is interference in the light background during indoor rescue, this paper proposes a multi-scale small object detection network multi-scale small YOLOv5s (MS-YOLOv5s). A CAC3 module that integrates the attention mechanism is proposed to capture object feature information in both channel and spatial directions; the neck BiFPN feature pyramid network is improved to improve the model's ability to fuse features of different scales, and the activation function of the convolution module is replaced by SiLU, to improve the adaptive ability of the model for small object detection. The model is deployed on the mobile rescue detection platform. The experimental results show that the mAP @ 0.5 of MS-YOLOV5s is 7.8% and 24.9% higher than that of YOLOv5s at different scales and different postures of trapped people, and the FPS reaches about 12, which can meet the needs of indoor mobile detection, proving the effectiveness of the method proposed in this paper and the robustness of the network model.

Abstract Image

基于改进型 YOLOv5 的室内移动救援车多尺度小目标检测
为了解决YOLOv5物体检测网络在室内救援过程中受到光背景干扰时,对被困人员和医疗救援物资的小物体存在检测精度低、误检测、漏检测等问题,本文提出了一种多尺度小物体检测网络多尺度小YOLOv5s(MS-YOLOv5s)。本文提出了一种集成了注意力机制的 CAC3 模块,以捕捉信道和空间两个方向的物体特征信息;改进了颈部 BiFPN 特征金字塔网络,以提高模型对不同尺度特征的融合能力;用 SiLU 代替卷积模块的激活函数,以提高模型对小物体检测的自适应能力。该模型部署在移动救援检测平台上。实验结果表明,在不同尺度和不同姿态的被困人员身上,MS-YOLOV5s 的 mAP @ 0.5 分别比 YOLOv5s 高 7.8%和 24.9%,FPS 达到 12 左右,能够满足室内移动检测的需要,证明了本文提出的方法的有效性和网络模型的鲁棒性。
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来源期刊
International Journal of Automotive Technology
International Journal of Automotive Technology 工程技术-工程:机械
CiteScore
3.10
自引率
12.50%
发文量
129
审稿时长
6 months
期刊介绍: The International Journal of Automotive Technology has as its objective the publication and dissemination of original research in all fields of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING. It fosters thus the exchange of ideas among researchers in different parts of the world and also among researchers who emphasize different aspects of the foundations and applications of the field. Standing as it does at the cross-roads of Physics, Chemistry, Mechanics, Engineering Design and Materials Sciences, AUTOMOTIVE TECHNOLOGY is experiencing considerable growth as a result of recent technological advances. The Journal, by providing an international medium of communication, is encouraging this growth and is encompassing all aspects of the field from thermal engineering, flow analysis, structural analysis, modal analysis, control, vehicular electronics, mechatronis, electro-mechanical engineering, optimum design methods, ITS, and recycling. Interest extends from the basic science to technology applications with analytical, experimental and numerical studies. The emphasis is placed on contributions that appear to be of permanent interest to research workers and engineers in the field. If furthering knowledge in the area of principal concern of the Journal, papers of primary interest to the innovative disciplines of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING may be published. Papers that are merely illustrations of established principles and procedures, even though possibly containing new numerical or experimental data, will generally not be published. When outstanding advances are made in existing areas or when new areas have been developed to a definitive stage, special review articles will be considered by the editors. No length limitations for contributions are set, but only concisely written papers are published. Brief articles are considered on the basis of technical merit.
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