Comparing YOLOv3, YOLOv4 and YOLOv5 for Autonomous Landing Spot Detection in Faulty UAVs.
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ABSTRACT:
SUBMITTER: Nepal U
PROVIDER: S-EPMC8778480 | biostudies-literature |
REPOSITORIES: biostudies-literature
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Project description:BackgroundManual microscopic examination of Leishman/Giemsa stained thin and thick blood smear is still the "gold standard" for malaria diagnosis. One of the drawbacks of this method is that its accuracy, consistency, and diagnosis speed depend on microscopists' diagnostic and technical skills. It is difficult to get highly skilled microscopists in remote areas of developing countries. To alleviate this problem, in this paper, we propose to investigate state-of-the-art one-stage and two-stage object detection algorithms for automated malaria parasite screening from microscopic image of thick blood slides.ResultsYOLOV3 and YOLOV4 models, which are state-of-the-art object detectors in accuracy and speed, are not optimized for detecting small objects such as malaria parasites in microscopic images. We modify these models by increasing feature scale and adding more detection layers to enhance their capability of detecting small objects without notably decreasing detection speed. We propose one modified YOLOV4 model, called YOLOV4-MOD and two modified models of YOLOV3, which are called YOLOV3-MOD1 and YOLOV3-MOD2. Besides, new anchor box sizes are generated using K-means clustering algorithm to exploit the potential of these models in small object detection. The performance of the modified YOLOV3 and YOLOV4 models were evaluated on a publicly available malaria dataset. These models have achieved state-of-the-art accuracy by exceeding performance of their original versions, Faster R-CNN, and SSD in terms of mean average precision (mAP), recall, precision, F1 score, and average IOU. YOLOV4-MOD has achieved the best detection accuracy among all the other models with a mAP of 96.32%. YOLOV3-MOD2 and YOLOV3-MOD1 have achieved mAP of 96.14% and 95.46%, respectively.ConclusionsThe experimental results of this study demonstrate that performance of modified YOLOV3 and YOLOV4 models are highly promising for detecting malaria parasites from images captured by a smartphone camera over the microscope eyepiece. The proposed system is suitable for deployment in low-resource setting areas.
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Project description:A perception module is a vital component of a modern robotic system. Vision, radar, thermal, and LiDAR are the most common choices of sensors for environmental awareness. Relying on singular sources of information is prone to be affected by specific environmental conditions (e.g., visual cameras are affected by glary or dark environments). Thus, relying on different sensors is an essential step to introduce robustness against various environmental conditions. Hence, a perception system with sensor fusion capabilities produces the desired redundant and reliable awareness critical for real-world systems. This paper proposes a novel early fusion module that is reliable against individual cases of sensor failure when detecting an offshore maritime platform for UAV landing. The model explores the early fusion of a still unexplored combination of visual, infrared, and LiDAR modalities. The contribution is described by suggesting a simple methodology that intends to facilitate the training and inference of a lightweight state-of-the-art object detector. The early fusion based detector achieves solid detection recalls up to 99% for all cases of sensor failure and extreme weather conditions such as glary, dark, and foggy scenarios in fair real-time inference duration below 6 ms.
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Project description:Unmanned Aerial Vehicles are useful tools for many applications. However, autonomous path planning for Unmanned Aerial Vehicles in unfamiliar environments is a challenging problem when facing a series of problems such as poor consistency, high influence by the native controller of the Unmanned Aerial Vehicles. In this paper, we investigate reinforcement learning-based autonomous local path planning methods for Unmanned Aerial Vehicles with high autonomous decision-making capability and locally high portability. We propose an autonomous local path planning algorithm based on the TD3 strategy to solve the problem of local obstacle avoidance and path planning in unfamiliar environments using autonomous decision-making of Unmanned Aerial Vehicles. The simulation results on Gazebo show that our method can effectively realize the autonomous local path planning task for Unmanned Aerial Vehicles, the success rate of path planning with our method can reach 93% under the interference of no obstacles, and 92% in the environment with obstacles. Finally, our method can be used for autonomous path planning of Unmanned Aerial Vehicles in unfamiliar environments.
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Project description:A continuing trend in precision apiculture is to use computer vision methods to quantify characteristics of bee traffic in managed colonies at the hive's entrance. Since traffic at the hive's entrance is a contributing factor to the hive's productivity and health, we assessed the potential of three open-source convolutional network models, YOLOv3, YOLOv4-tiny, and YOLOv7-tiny, to quantify omnidirectional traffic in videos from on-hive video loggers on regular, unmodified one- and two-super Langstroth hives and compared their accuracies, energy efficacies, and operational energy footprints. We trained and tested the models with a 70/30 split on a dataset of 23,173 flying bees manually labeled in 5819 images from 10 randomly selected videos and manually evaluated the trained models on 3600 images from 120 randomly selected videos from different apiaries, years, and queen races. We designed a new energy efficacy metric as a ratio of performance units per energy unit required to make a model operational in a continuous hive monitoring data pipeline. In terms of accuracy, YOLOv3 was first, YOLOv7-tiny-second, and YOLOv4-tiny-third. All models underestimated the true amount of traffic due to false negatives. YOLOv3 was the only model with no false positives, but had the lowest energy efficacy and highest operational energy footprint in a deployed hive monitoring data pipeline. YOLOv7-tiny had the highest energy efficacy and the lowest operational energy footprint in the same pipeline. Consequently, YOLOv7-tiny is a model worth considering for training on larger bee datasets if a primary objective is the discovery of non-invasive computer vision models of traffic quantification with higher energy efficacies and lower operational energy footprints.
| S-EPMC10422429 | biostudies-literature
Project description:YOLOv3 is a popular and effective object detection algorithm. However, YOLOv3 has a complex network, and floating point operations (FLOPs) and parameter sizes are large. Based on this, the paper designs a new YOLOv3 network and proposes a lightweight object detection algorithm. First, two excellent networks, the Cross Stage Partial Network (CSPNet) and GhostNet, are integrated to design a more efficient residual network, CSP-Ghost-Resnet. Second, combining CSPNet and Darknet53, this paper designs a new backbone network, the ML-Darknet, to realize the gradient diversion of the backbone network. Finally, we design a lightweight multiscale feature extraction network, the PAN-CSP-Network. The newly designed network is named mini and lightweight YOLOv3 (ML-YOLOv3). Based on the helmet dataset, the FLPSs and parameter sizes of ML-YOLOv3 are only 29.7% and 29.4% of those of YOLOv3. Compared with YOLO5, ML-YOLOv3 also exhibits obvious advantages in calculation cost and detection effect.
| S-EPMC9243020 | biostudies-literature
Project description:This paper addresses a problem of autonomous navigation of unmanned aerial vehicles (UAVs) for the surveillance of multiple moving ground targets. The ground can be flat or uneven. A reactive real-time sliding mode control algorithm is proposed that navigates a team of communicating UAVs, equipped with ground-facing video cameras, towards moving targets to increase some measure of sensing coverage of the targets by the UAVs. Moreover, the Voronoi partitioning technique is adopted to reduce the movement range of the UAVs and decrease the revisit times of the targets. Extensive computer simulations, from the simple case with one UAV and multiple targets to the complex case with multiple UAVs and multiple targets, are conducted to demonstrate the performance of the developed autonomous navigation algorithm. The scenarios where the terrain is uneven are also considered. As shown in the simulation results, although the additional VP technique leads to some extra computation burden, the usage of the VP technique considerably reduces the target revisit time compared to the algorithm without this technique.
| S-EPMC7374335 | biostudies-literature
Project description:Object detection based on deep learning has made great progress in the past decade and has been widely used in various fields of daily life. Model lightweighting is the core of deploying target detection models on mobile or edge devices. Lightweight models have fewer parameters and lower computational costs, but are often accompanied by lower detection accuracy. Based on YOLOv5s, this article proposes an improved lightweight target detection model, which can achieve higher detection accuracy with smaller parameters. Firstly, utilizing the lightweight feature of the Ghost module, we integrated it into the C3 structure and replaced some of the C3 modules after the upsample layer on the neck network, thereby reducing the number of model parameters and expediting the model's inference process. Secondly, the coordinate attention (CA) mechanism was added to the neck to enhance the model's ability to pay attention to relevant information and improved detection accuracy. Finally, a more efficient Simplified Spatial Pyramid Pooling-Fast (SimSPPF) module was designed to enhance the stability of the model and shorten the training time of the model. In order to verify the effectiveness of the improved model, experiments were conducted using three datasets with different features. Experimental results show that the number of parameters of our model is significantly reduced by 28% compared with the original model, and mean average precision (mAP) is increased by 3.1%, 1.1% and 1.8% respectively. The model also performs better in terms of accuracy compared to existing lightweight state-of-the-art models. On three datasets with different features, mAP of the proposed model achieved 87.2%, 77.8% and 92.3%, which is better than YOLOv7tiny (81.4%, 77.7%, 90.3%), YOLOv8n (84.7%, 77.7%, 90.6%) and other advanced models. When achieving the decreased number of parameters, the improved model can successfully increase mAP, providing great reference for deploying the model on mobile or edge devices.
| S-EPMC10909222 | biostudies-literature
Project description:Small object detection is one of the difficulties in the development of computer vision, especially in the case of complex image backgrounds, and the accuracy of small object detection still needs to be improved. In this article, we present a small object detection network based on YOLOv4, which solves some obstacles that hinder the performance of traditional methods in small object detection tasks in complex road environments, such as few effective features, the influence of image noise, and occlusion by large objects, and improves the detection of small objects in complex background situations such as drone aerial survey images. The improved network architecture reduces the computation and GPU memory consumption of the network by including the cross-stage partial network (CSPNet) structure into the spatial pyramid pool (SPP) structure in the YOLOv4 network and convolutional layers after concatenation operation. Secondly, the accuracy of the model on the small object detection task is improved by adding a more suitable small object detection head and removing one used for large object detection. Then, a new branch is added to extract feature information at a shallow location in the backbone part, and the feature information extracted from this branch is fused in the neck part to enrich the small object location information extracted by the model; when fusing feature information from different levels in the backbone, the fusion weight of useful information is increased by adding a weighting mechanism to improve detection performance at each scale. Finally, a coordinated attention (CA) module is embedded at a suitable location in the neck part, which enables the model to focus on spatial location relationships and inter-channel relationships and enhances feature representation capability. The proposed model has been tested to detect 10 different target objects in aerial images from drones and five different road traffic signal signs in images taken from vehicles in a complex road environment. The detection speed of the model meets the criteria of real-time detection, the model has better performance in terms of accuracy compared to the existing state-of-the-art detection models, and the model has only 44M parameters. On the drone aerial photography dataset, the average accuracy of YOLOv4 and YOLOv5L is 42.79% and 42.10%, respectively, while our model achieves an average accuracy (mAP) of 52.76%; on the urban road traffic light dataset, the proposed model achieves an average accuracy of 96.98%, which is also better than YOLOv4 (95.32%), YOLOv5L (94.79%) and other advanced models. The current work provides an efficient method for small object detection in complex road environments, which can be extended to scenarios involving small object detection, such as drone cruising and autonomous driving.
| S-EPMC10280595 | biostudies-literature
Project description:BackgroundAn automatic bathing robot needs to identify the area to be bathed in order to perform visually-guided bathing tasks. Skin detection is the first step. The deep convolutional neural network (CNN)-based object detection algorithm shows excellent robustness to light and environmental changes when performing skin detection. The one-stage object detection algorithm has good real-time performance, and is widely used in practical projects.MethodsIn our previous work, we performed skin detection using Faster R-CNN (ResNet50 as backbone), Faster R-CNN (MobileNetV2 as backbone), YOLOv3 (DarkNet53 as backbone), YOLOv4 (CSPDarknet53 as backbone), and CenterNet (Hourglass as backbone), and found that YOLOv4 had the best performance. In this study, we considered the convenience of practical deployment and used the lightweight version of YOLOv4, i.e., YOLOv4-tiny, for skin detection. Additionally, we added three kinds of attention mechanisms to strengthen feature extraction: SE, ECA, and CBAM. We added the attention module to the two feature layers of the backbone output. In the enhanced feature extraction network part, we applied the attention module to the up-sampled features. For full comparison, we used other lightweight methods that use MobileNetV1, MobileNetV2, and MobileNetV3 as the backbone of YOLOv4. We established a comprehensive evaluation index to evaluate the performance of the models that mainly reflected the balance between model size and mAP.ResultsThe experimental results revealed that the weight file of YOLOv4-tiny without attention mechanisms was reduced to 9.2% of YOLOv4, but the mAP maintained 67.3% of YOLOv4. YOLOv4-tiny's performance improved after combining the CBAM and ECA modules, but the addition of SE deteriorated the performance of YOLOv4-tiny. MobileNetVX_YOLOv4 (X = 1, 2, 3), which used MobileNetV1, MobileNetV2, and MobileNetV3 as the backbone of YOLOv4, showed higher mAP than YOLOv4-tiny series (including YOLOv4-tiny and three improved YOLOv4-tiny based on the attention mechanism) but had a larger weight file. The network performance was evaluated using the comprehensive evaluation index. The model, which integrates the CBAM attention mechanism and YOLOv4-tiny, achieved a good balance between model size and detection accuracy.
| S-EPMC10280476 | biostudies-literature
Project description:In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. A novel landing pad with different optical markers sizes is carefully designed to be robustly recognized at different distances. To provide reliable pose information in a GPS (Global Positioning System)-denied environment, a vision algorithm for real-time landing pad recognition and pose estimation is implemented. The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. A series of autonomous flights have been successfully performed, and a video of the experiment is available online. The efficiency and accuracy of the presented vision-based system is demonstrated by using its position and attitude estimates as control inputs for the autonomous landing of a self-customized quadrotor.
| S-EPMC6874798 | biostudies-literature