Research on Visual Navigation Technology of Citrus Orchard Based on Improved DeepLabv3+ Model
Article No.: 44, Pages 1 - 8
Abstract
Abstract: Aiming at the lack of a high precision visual navigation technology for citrus orchards. This study proposes a citrus orchard navigation line extraction method based on the DeepLabv3+ model. Firstly, replace the main network Xception of DeepLabv3+ with a more lightweight MobileNetV3, and replace the ordinary convolutions in the decoder with Depthwise Separable Convolution to reduce model parameters and improve computational speed. Secondly, add a 2*2 convolutional kernel to the ASPP module in DeepLabv3+ to improve the model's segmentation accuracy at the edges of citrus trees and the background. The Improved DeepLabv3+ model is used to output semantic segmentation images for road edge and path keypoint extraction. Based on the extracted road keypoints, multiple segments of 3rd-degree B-spline curves are fitted to generate the final road navigation lines. Experimental results demonstrate that the improved model exhibits significant advantages compared to other mainstream models, with an mPA value of 94.71% and a processing speed of 96.62 frames per second. The average deviation of generated paths in terms of yaw pixels is 3.56%, meeting navigation requirements in various environments. Therefore, this method can provide support for autonomous navigation technology in citrus orchard agricultural drones.
Keywords: DeepLabv3+; Depthwise Separable Convolution; MobileNetV3; Semantic Segmentation; route fitting
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Published In
January 2024
506 pages
ISBN:9798400718199
DOI:10.1145/3653804
Copyright © 2024 ACM.
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Association for Computing Machinery
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Published: 01 June 2024
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CVDL 2024
CVDL 2024: The International Conference on Computer Vision and Deep Learning
January 19 - 21, 2024
Changsha, China
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