The rapid pace of urban development has resulted in the widespread presence of construction equipment andincreasingly complex conditions in transmission corridors. These conditions pose a serious threat to the safeope...The rapid pace of urban development has resulted in the widespread presence of construction equipment andincreasingly complex conditions in transmission corridors. These conditions pose a serious threat to the safeoperation of the power grid.Machine vision technology, particularly object recognition technology, has beenwidelyemployed to identify foreign objects in transmission line images. Despite its wide application, the technique faceslimitations due to the complex environmental background and other auxiliary factors. To address these challenges,this study introduces an improved YOLOv8n. The traditional stepwise convolution and pooling layers are replacedwith a spatial-depth convolution (SPD-Conv) module, aiming to improve the algorithm’s efficacy in recognizinglow-resolution and small-size objects. The algorithm’s feature extraction network is improved by using a LargeSelective Kernel (LSK) attention mechanism, which enhances the ability to extract relevant features. Additionally,the SIoU Loss function is used instead of the Complete Intersection over Union (CIoU) Loss to facilitate fasterconvergence of the algorithm. Through experimental verification, the improved YOLOv8n model achieves adetection accuracy of 88.8% on the test set. The recognition accuracy of cranes is improved by 2.9%, which isa significant enhancement compared to the unimproved algorithm. This improvement effectively enhances theaccuracy of recognizing foreign objects on transmission lines and proves the effectiveness of the new algorithm.展开更多
为了改善在动态场景下同步定位与地图绘制(Simultaneous Localization And Mapping,SLAM)算法定位精度低的问题,提出一种基于轻量化YOLOv(You Only Look Once version)8n的动态视觉SLAM算法。利用加权双向特征金字塔网络(Bidirectional ...为了改善在动态场景下同步定位与地图绘制(Simultaneous Localization And Mapping,SLAM)算法定位精度低的问题,提出一种基于轻量化YOLOv(You Only Look Once version)8n的动态视觉SLAM算法。利用加权双向特征金字塔网络(Bidirectional Feature Pyramid Network,BiFPN)对YOLOv8n模型进行轻量化改进,减少其参数量。在SLAM算法中引入轻量化YOLOv8n模型,并结合稀疏光流法组成目标检测线程,以去除动态特征点,利用经过筛选的特征点进行特征匹配和位姿估计。实验结果表明:轻量化YOLOv8n模型参数量下降了36.7%,权重减少了33.3%,能够实现YOLOv8n模型的轻量化;与ORB-SLAM3算法相比,所提算法在动态场景下的定位精度提高83.38%,有效提高了动态场景下SLAM算法的精度。展开更多
基金the Natural Science Foundation of Shandong Province(ZR2021QE289)State Key Laboratory of Electrical Insulation and Power Equipment(EIPE22201).
文摘The rapid pace of urban development has resulted in the widespread presence of construction equipment andincreasingly complex conditions in transmission corridors. These conditions pose a serious threat to the safeoperation of the power grid.Machine vision technology, particularly object recognition technology, has beenwidelyemployed to identify foreign objects in transmission line images. Despite its wide application, the technique faceslimitations due to the complex environmental background and other auxiliary factors. To address these challenges,this study introduces an improved YOLOv8n. The traditional stepwise convolution and pooling layers are replacedwith a spatial-depth convolution (SPD-Conv) module, aiming to improve the algorithm’s efficacy in recognizinglow-resolution and small-size objects. The algorithm’s feature extraction network is improved by using a LargeSelective Kernel (LSK) attention mechanism, which enhances the ability to extract relevant features. Additionally,the SIoU Loss function is used instead of the Complete Intersection over Union (CIoU) Loss to facilitate fasterconvergence of the algorithm. Through experimental verification, the improved YOLOv8n model achieves adetection accuracy of 88.8% on the test set. The recognition accuracy of cranes is improved by 2.9%, which isa significant enhancement compared to the unimproved algorithm. This improvement effectively enhances theaccuracy of recognizing foreign objects on transmission lines and proves the effectiveness of the new algorithm.
文摘为了改善在动态场景下同步定位与地图绘制(Simultaneous Localization And Mapping,SLAM)算法定位精度低的问题,提出一种基于轻量化YOLOv(You Only Look Once version)8n的动态视觉SLAM算法。利用加权双向特征金字塔网络(Bidirectional Feature Pyramid Network,BiFPN)对YOLOv8n模型进行轻量化改进,减少其参数量。在SLAM算法中引入轻量化YOLOv8n模型,并结合稀疏光流法组成目标检测线程,以去除动态特征点,利用经过筛选的特征点进行特征匹配和位姿估计。实验结果表明:轻量化YOLOv8n模型参数量下降了36.7%,权重减少了33.3%,能够实现YOLOv8n模型的轻量化;与ORB-SLAM3算法相比,所提算法在动态场景下的定位精度提高83.38%,有效提高了动态场景下SLAM算法的精度。
