Research on Target Ranging of Mobile Robot Based on Binocular Vision

Jiang, Chengfu; Gao, Yuanlou; Yang, Pu

doi:10.1109/icrcv52986.2021.9546971

Cited by 1 publication

(1 citation statement)

References 9 publications

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“…To evaluate the performance of green pepper counting in video sequences, three indexes are proposed: Average Counting Precision (ACP), Mean Absolute Error (MAE), and Root Mean Square Error (RMSE). ACP and MAE can measure the performance of the model and reflect the accuracy of counting, while RMSE can reflect the robustness of the model ( Jiang et al., 2021 ). These metrics assess both the accuracy and error in counting.…”

Section: Methodsmentioning

confidence: 99%

Green pepper fruits counting based on improved DeepSort and optimized Yolov5s

Du,

Chen,

et al. 2024

Front. Plant Sci.

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IntroductionGreen pepper yield estimation is crucial for establishing harvest and storage strategies.MethodThis paper proposes an automatic counting method for green pepper fruits based on object detection and multi-object tracking algorithm. Green pepper fruits have colors similar to leaves and are often occluded by each other, posing challenges for detection. Based on the YOLOv5s, the CS_YOLOv5s model is specifically designed for green pepper fruit detection. In the CS_YOLOv5s model, a Slim-Nick combined with GSConv structure is utilized in the Neck to reduce model parameters while enhancing detection speed. Additionally, the CBAM attention mechanism is integrated into the Neck to enhance the feature perception of green peppers at various locations and enhance the feature extraction capabilities of the model.ResultAccording to the test results, the CS_YOLOv5s model of mAP, Precision and Recall, and Detection time of a single image are 98.96%, 95%, 97.3%, and 6.3 ms respectively. Compared to the YOLOv5s model, the Detection time of a single image is reduced by 34.4%, while Recall and mAP values are improved. Additionally, for green pepper fruit tracking, this paper combines appearance matching algorithms and track optimization algorithms from SportsTrack to optimize the DeepSort algorithm. Considering three different scenarios of tracking, the MOTA and MOTP are stable, but the ID switch is reduced by 29.41%. Based on the CS_YOLOv5s model, the counting performance before and after DeepSort optimization is compared. For green pepper counting in videos, the optimized DeepSort algorithm achieves ACP (Average Counting Precision), MAE (Mean Absolute Error), and RMSE (Root Mean Squared Error) values of 95.33%, 3.33, and 3.74, respectively. Compared to the original algorithm, ACP increases by 7.2%, while MAE and RMSE decrease by 6.67 and 6.94, respectively. Additionally, Based on the optimized DeepSort, the fruit counting results using YOLOv5s model and CS_YOLOv5s model were compared, and the results show that using the better object detector CS_YOLOv5s has better counting accuracy and robustness.

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Section: Methodsmentioning

confidence: 99%