1. 轻量化改进 XYZNet 的 RGB-D特征提.
- Author
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于建均, 刘耕源, 于乃功, 龚道雄, and 冯新悦
- Subjects
- *
FEATURE extraction , *IMAGE processing - Abstract
According to the problem of the current RGB-D feature extraction network used for pose estimation was too large, this paper proposed a lightweight improved XYZNet RGB-D feature extraction network. First, this paper designed a lightweight sub-network BaseNet to replace ResNet18 in XYZNet, which made the network scale significantly reduced and obtained more powerful performance. Then, this paper proposed a re-parameterized multiscale convolutional attention (Rep-MSCA) sub-module based on depth separable convolution, which enhanced the ability of BaseNet to extract contextual information of different scales, and constrained the amount of parameters in the model. Finally, in order to improve the geometric feature extraction ability of PointNet in XYZNet with a small parameter cost, this paper designed a re-parameterized residual multi-layer perceptron (Rep-ResP) module. The floating point operations (FLOPs) and parameters of the improved network are 60.8% and 64.8% lower, the inference speed is 21.2% higher, and the accuracy of the mainstream datasets LineMOD and YCB-Video is 0.5% and 0.6% higher. The proposed model is more suitable for deployment in scenarios where hardware resources are tight. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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