摘要

Drone-Yolo在無人機數(shù)據(jù)集上取得了巨大的成功，mAP0.5指標上取得了顯著改進，在VisDrone2019-test上增加了13.4%，在VisDrone2019-val上增加了17.40%。這篇文章我首先復(fù)現(xiàn)Drone-Yolo，然后，在Drone-Yolo的基礎(chǔ)上加入我自己對小目標檢測的改進。

文章鏈接：

YoloV5官方結(jié)果

YOLOv5l?summary:?267?layers,?46275213?parameters,?0?gradients,?108.2?GFLOPs
?????????????????Class?????Images??Instances??????????P??????????R??????mAP50???mAP50-95:?100%|██████████|?15/15?[00:02<00:00,??5.16it/s]
???????????????????all????????230???????1412??????0.971???????0.93??????0.986??????0.729
???????????????????c17????????230????????131??????0.992??????0.992??????0.995??????0.797
????????????????????c5????????230?????????68??????0.953??????????1??????0.994???????0.81
????????????helicopter????????230?????????43??????0.974??????0.907??????0.948???????0.57
??????????????????c130????????230?????????85??????????1??????0.981??????0.994???????0.66
???????????????????f16????????230?????????57??????0.999???????0.93??????0.975??????0.677
????????????????????b2????????230??????????2??????0.971??????????1??????0.995??????0.746
?????????????????other????????230?????????86??????0.987??????0.915??????0.974??????0.545
???????????????????b52????????230?????????70??????0.983??????0.957??????0.981??????0.803
??????????????????kc10????????230?????????62??????????1??????0.977??????0.985??????0.819
???????????????command????????230?????????40??????0.971??????????1??????0.986??????0.782
???????????????????f15????????230????????123??????0.992??????0.976??????0.994??????0.655
?????????????????kc135????????230?????????91??????0.988??????0.989??????0.986??????0.699
???????????????????a10????????230?????????27??????????1??????0.526??????0.912??????0.391
????????????????????b1????????230?????????20??????0.949??????????1??????0.995??????0.719
???????????????????aew????????230?????????25??????0.952??????????1??????0.993??????0.781
???????????????????f22????????230?????????17??????0.901??????????1??????0.995??????0.763
????????????????????p3????????230????????105??????0.997???????0.99??????0.995??????0.789
????????????????????p8????????230??????????1??????0.885??????????1??????0.995??????0.697
???????????????????f35????????230?????????32??????0.969??????0.984??????0.985??????0.569
???????????????????f18????????230????????125??????0.974??????0.992???????0.99??????0.806
???????????????????v22????????230?????????41??????0.994??????????1??????0.995??????0.641
?????????????????su-27????????230?????????31??????0.987??????????1??????0.995??????0.842
?????????????????il-38????????230?????????27??????0.994??????????1??????0.995??????0.785
????????????????tu-134????????230??????????1??????0.879??????????1??????0.995??????0.796
?????????????????su-33????????230??????????2??????????1??????????0??????0.995??????0.846
?????????????????an-70????????230??????????2??????0.943??????????1??????0.995??????0.895
?????????????????tu-22????????230?????????98??????0.983??????????1??????0.995??????0.788


BiC模塊

BiC模塊模塊，有三個輸入，一個輸出組成，如下圖：

我參照YoloV6中的源碼，結(jié)合YoloV8，對BiC模塊做了適當?shù)男薷?，適應(yīng)channel的輸入和輸出，代碼如下：

class?BiFusion(nn.Module):
????'''BiFusion?Block?in?PAN'''
????def?__init__(self,?in_channels1,in_channels2,in_channels3,?out_channels):
????????super().__init__()
????????self.CV1?=?Conv(in_channels1,?out_channels,?1,?1)
????????self.CV2?=?Conv(in_channels2,?out_channels,?1,?1)
????????self.CV3?=?Conv(in_channels3,?out_channels,?1,?1)
????????self.cv_out?=?Conv(out_channels?*?3,?out_channels,?1,?1)

????????self.upsample?=?ConvTranspose(
????????????out_channels,
????????????out_channels,
????????)
????????self.downsample?=?Conv(
????????????out_channels,
????????????out_channels,
????????????3,
????????????2
????????)

????def?forward(self,?x):
????????x0?=?self.upsample(self.CV1(x[0]))
????????x1?=?self.CV2(x[1])
????????x2?=?self.downsample(self.CV3(x[2]))
????????x3=?self.cv_out(torch.cat((x0,?x1,?x2),?dim=1))
????????return?x3


改進一

測試結(jié)果

YOLOv5l?summary:?292?layers,?52014989?parameters,?0?gradients,?138.8?GFLOPs
?????????????????Class?????Images??Instances??????????P??????????R??????mAP50???mAP50-95:?100%|██████████|?15/15?[00:03<00:00,??4.47it/s]
???????????????????all????????230???????1412??????0.966???????0.94??????0.989??????0.721
???????????????????c17????????230????????131??????0.979??????0.977??????0.993??????0.813
????????????????????c5????????230?????????68??????0.948??????0.985??????0.994??????0.823
????????????helicopter????????230?????????43??????0.975??????0.905??????0.985??????0.611
??????????????????c130????????230?????????85??????????1??????0.998??????0.995??????0.657
???????????????????f16????????230?????????57??????0.991???????0.93??????0.975??????0.645
????????????????????b2????????230??????????2??????????1???????0.96??????0.995??????0.597
?????????????????other????????230?????????86??????????1??????0.954??????0.974???????0.54
???????????????????b52????????230?????????70??????0.977??????0.971??????0.972??????0.792
??????????????????kc10????????230?????????62??????0.992??????0.968??????0.984??????0.803
???????????????command????????230?????????40??????0.981??????????1??????0.995??????0.792
???????????????????f15????????230????????123???????0.99??????0.984??????0.995??????0.673
?????????????????kc135????????230?????????91??????0.974??????0.989??????0.978??????0.672
???????????????????a10????????230?????????27??????????1??????0.929??????0.983??????0.455
????????????????????b1????????230?????????20??????0.994??????????1??????0.995??????0.737
???????????????????aew????????230?????????25??????0.947??????????1??????0.993??????0.777
???????????????????f22????????230?????????17??????0.938??????????1??????0.995??????0.697
????????????????????p3????????230????????105??????0.994??????????1??????0.995??????0.803
????????????????????p8????????230??????????1??????0.871??????????1??????0.995??????0.796
???????????????????f35????????230?????????32??????????1??????0.827??????0.961??????0.566
???????????????????f18????????230????????125??????0.967??????0.992??????0.988??????0.813
???????????????????v22????????230?????????41??????0.993??????????1??????0.995??????0.662
?????????????????su-27????????230?????????31??????0.942??????????1??????0.995??????0.841
?????????????????il-38????????230?????????27??????0.991??????????1??????0.995??????0.772
????????????????tu-134????????230??????????1??????0.745??????????1??????0.995??????0.895
?????????????????su-33????????230??????????2??????????1??????????0??????0.995??????0.746
?????????????????an-70????????230??????????2??????0.913??????????1??????0.995??????0.697
?????????????????tu-22????????230?????????98??????0.992??????????1??????0.995??????0.798



改進二

測試結(jié)果

原數(shù)據(jù)集測試結(jié)果

?????????????????Class?????Images??Instances??????????P??????????R??????mAP50???mAP50-95:?100%|██████████|?15/15?[00:03<00:00,??4.07it/s]
???????????????????all????????230???????1412??????0.966??????0.921??????0.984???????0.71
???????????????????c17????????230????????131??????0.967??????0.992??????0.994??????0.791
????????????????????c5????????230?????????68??????0.974??????0.971??????0.993??????0.821
????????????helicopter????????230?????????43??????0.926??????0.953??????0.956??????0.598
??????????????????c130????????230?????????85??????0.988??????0.982??????0.994??????0.672
???????????????????f16????????230?????????57??????0.944???????0.93??????0.974??????0.654
????????????????????b2????????230??????????2??????????1??????0.723??????0.995??????0.547
?????????????????other????????230?????????86??????0.918??????0.919??????0.977??????0.505
???????????????????b52????????230?????????70??????0.972??????0.957??????0.984??????0.803
??????????????????kc10????????230?????????62??????0.991??????0.968??????0.987??????0.798
???????????????command????????230?????????40???????0.99??????????1??????0.995??????0.785
???????????????????f15????????230????????123??????0.946??????????1??????0.993??????0.652
?????????????????kc135????????230?????????91??????0.977??????0.989??????0.992??????0.661
???????????????????a10????????230?????????27??????0.982??????0.667??????0.852??????0.371
????????????????????b1????????230?????????20??????0.974???????0.95??????0.993??????0.675
???????????????????aew????????230?????????25??????0.943??????????1??????0.978??????0.795
???????????????????f22????????230?????????17??????0.981??????????1??????0.995??????0.691
????????????????????p3????????230????????105??????????1???????0.97??????0.995??????0.784
????????????????????p8????????230??????????1??????0.861??????????1??????0.995??????0.796
???????????????????f35????????230?????????32??????????1??????0.902???????0.99??????0.592
???????????????????f18????????230????????125??????0.973??????0.992??????0.983????????0.8
???????????????????v22????????230?????????41??????0.994??????????1??????0.995??????0.734
?????????????????su-27????????230?????????31??????0.973??????????1??????0.995??????0.842
?????????????????il-38????????230?????????27??????0.972??????????1??????0.995??????0.784
????????????????tu-134????????230??????????1??????0.959??????????1??????0.995??????0.796
?????????????????su-33????????230??????????2??????????1??????????0??????0.995??????0.646
?????????????????an-70????????230??????????2??????0.904??????????1??????0.995??????0.796
?????????????????tu-22????????230?????????98??????0.968??????????1??????0.995??????0.782


ViSDrone2019數(shù)據(jù)集測試結(jié)果

?????????????????Class?????Images??Instances??????????P??????????R??????mAP50???mAP50-95:?100%|██████████|?35/35?[00:24<00:00,??1.43it/s]
???????????????????all????????548??????38759??????0.529??????0.421??????0.431??????0.257
????????????pedestrian????????548???????8844??????0.597??????0.456??????0.503??????0.234
????????????????people????????548???????5125??????0.555??????0.389??????0.411??????0.161
???????????????bicycle????????548???????1287??????0.342??????0.219??????0.196?????0.0805
???????????????????car????????548??????14064??????0.738??????0.801??????0.822??????0.583
???????????????????van????????548???????1975??????0.511??????0.414??????0.422??????0.305
?????????????????truck????????548????????750??????0.528??????0.402??????0.424??????0.288
??????????????tricycle????????548???????1045??????0.485??????0.303??????0.303??????0.174
???????awning-tricycle????????548????????532??????0.232??????0.179??????0.142??????0.091
???????????????????bus????????548????????251??????0.693??????0.576??????0.592??????0.427
?????????????????motor????????548???????4886??????0.608??????0.472??????0.499??????0.224
Results?saved?to?runs\train\exp6


比論文的結(jié)果低一些，這個和batchsize以及epoch有關(guān)系！ 我選用的epoch為150，batchsize為8。如果按照論文中的300epoch可能會更高一些。 下面的結(jié)果訓(xùn)練了300epoch，成績提升了不少！

300?epochs?completed?in?11.267?hours.
YOLOv5l?summary:?340?layers,?49465140?parameters,?0?gradients,?144.2?GFLOPs
?????????????????Class?????Images??Instances??????????P??????????R??????mAP50???mAP50-95:?100%|██████████|?35/35?[00:13<00:00,??2.53it/s]
???????????????????all????????548??????38759??????0.562??????0.458??????0.472??????0.285
????????????pedestrian????????548???????8844??????0.608??????0.509??????0.551??????0.264
????????????????people????????548???????5125??????0.549??????0.424??????0.437??????0.173
???????????????bicycle????????548???????1287??????0.424??????0.219??????0.239??????0.102
???????????????????car????????548??????14064??????0.746??????0.837??????0.851??????0.612
???????????????????van????????548???????1975??????0.559??????0.464??????0.484??????0.353
?????????????????truck????????548????????750???????0.61??????0.408??????0.438??????0.297
??????????????tricycle????????548???????1045??????0.495??????0.362??????0.361??????0.205
???????awning-tricycle????????548????????532??????0.302??????0.212??????0.173??????0.109
???????????????????bus????????548????????251??????0.746??????0.585??????0.646??????0.482
?????????????????motor????????548???????4886??????0.581??????0.559??????0.542??????0.251
Results?saved?to?runs\train\exp


改進三

測試結(jié)果

YOLOv5l?summary:?369?layers,?52601844?parameters,?0?gradients,?174.8?GFLOPs
?????????????????Class?????Images??Instances??????????P??????????R??????mAP50???mAP50-95:?100%|██████████|?35/35?[00:14<00:00,??2.41it/s]
???????????????????all????????548??????38759??????0.586??????0.471???????0.49????????0.3
????????????pedestrian????????548???????8844??????0.628??????0.539??????0.582??????0.284
????????????????people????????548???????5125??????0.566??????0.427??????0.451??????0.185
???????????????bicycle????????548???????1287??????0.416??????0.235??????0.241??????0.105
???????????????????car????????548??????14064??????0.753??????0.846??????0.859??????0.624
???????????????????van????????548???????1975??????0.621???????0.47??????0.506??????0.369
?????????????????truck????????548????????750??????0.618??????0.416???????0.45??????0.304
??????????????tricycle????????548???????1045??????0.546??????0.369??????0.372??????0.222
???????awning-tricycle????????548????????532???????0.33??????0.224??????0.202??????0.131
???????????????????bus????????548????????251??????0.778??????0.614??????0.678??????0.512
?????????????????motor????????548???????4886??????0.602???????0.57??????0.559??????0.264


提升了一些！

總結(jié)

本文嘗試了三種不同的改進方法，針對小目標，有明顯的提升，大家可以在自己的數(shù)據(jù)集上做嘗試！