22-08-2023 дата публикации
Номер: CN116630602A
Принадлежит:
A method for detecting target object grabbed by a mechanical arm based on an improved YOLOv5 algorithm belongs to the technical field of image recognition, and comprises the steps of S1, acquiring a data set and performing data preprocessing, S2, improving an existing YOLOv5 network, S21, establishing a space-coordinate attention mechanism SCAA, realizing accurate positioning of a target object and local feature information, and obtaining a target object grabbed by a mechanical arm under the inspiration of a convolution attention mechanism CBAM. Combining the spatial attention mechanism SA and the coordinate attention mechanism CA; s22, a multi-scale feature fusion network is adopted, a Neck structure of YOLOv5 adopts a mode of combining FPN and PANeT, and a YOLOv5 algorithm model network is improved; s23, anchor frame parameters are optimized, YOLOv5 adopts an adaptive anchor frame to automatically learn training data, and a Kmeans clustering algorithm is used to automatically calculate ...
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