GY-SLAM: A Dense Semantic SLAM System for Plant Factory Transport Robots

Xie, Xiaolin; Qin, Yibo; Zhang, Zhihong; Yan, Zixiang; Jin, Hang; Xu, Man; Zhang, Cheng

doi:10.3390/s24051374

Cited by 1 publication

(1 citation statement)

References 31 publications

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“…Research has shown that incorporating attention mechanisms and introducing upsamplers [33][34][35][36] have been proven to effectively enhance model detection accuracy. Zeng et al [37] proposed a YOLOv8 model based on the CBAM mechanism, which can effectively select key features of targets, achieving high-precision recognition of coal and gangue.…”

Section: Discussionmentioning

confidence: 99%

Improved YOLOv8 Model for Lightweight Pigeon Egg Detection

Jiang,

Zhou,

Xie

et al. 2024

Animals

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In response to the high breakage rate of pigeon eggs and the significant labor costs associated with egg-producing pigeon farming, this study proposes an improved YOLOv8-PG (real versus fake pigeon egg detection) model based on YOLOv8n. Specifically, the Bottleneck in the C2f module of the YOLOv8n backbone network and neck network are replaced with Fasternet-EMA Block and Fasternet Block, respectively. The Fasternet Block is designed based on PConv (Partial Convolution) to reduce model parameter count and computational load efficiently. Furthermore, the incorporation of the EMA (Efficient Multi-scale Attention) mechanism helps mitigate interference from complex environments on pigeon-egg feature-extraction capabilities. Additionally, Dysample, an ultra-lightweight and effective upsampler, is introduced into the neck network to further enhance performance with lower computational overhead. Finally, the EXPMA (exponential moving average) concept is employed to optimize the SlideLoss and propose the EMASlideLoss classification loss function, addressing the issue of imbalanced data samples and enhancing the model’s robustness. The experimental results showed that the F1-score, mAP50-95, and mAP75 of YOLOv8-PG increased by 0.76%, 1.56%, and 4.45%, respectively, compared with the baseline YOLOv8n model. Moreover, the model’s parameter count and computational load are reduced by 24.69% and 22.89%, respectively. Compared to detection models such as Faster R-CNN, YOLOv5s, YOLOv7, and YOLOv8s, YOLOv8-PG exhibits superior performance. Additionally, the reduction in parameter count and computational load contributes to lowering the model deployment costs and facilitates its implementation on mobile robotic platforms.

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