SN-CNN: A Lightweight and Accurate Line Extraction Algorithm for Seedling Navigation in Ridge-Planted Vegetables
Abstract
:1. Introduction
2. Materials and Methods
2.1. Research Process and Methods of This Paper
2.2. Dataset Construction and Image Preprocessing
2.3. Improvement of YOLOv8n
2.4. Efficient C2f_UIB Block
2.5. Integrating the SimAM Attention Mechanism
2.6. Model Training and Evaluation
2.6.1. Hardware Platform and Hyperparameter Settings
2.6.2. Model Evaluation
3. Results
3.1. Comparison of SN-CNN and the Baseline’s Training Loss Functions
3.2. Comparison of SN-CNN Performance with Existing Algorithms
3.3. Ablation Experiment
3.4. Performance Evaluation of Navigation Line Fitting on Jetson AGX Xavier
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
References
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Set | Values |
---|---|
Lr0 | 0.001667 |
Momentum | 0.9 |
Weight decay | 0.0005 |
Batch size | 32 |
Epochs | 200 |
Pre-trained weight | YOLOv8n.pt |
Networks | Parameters | FLOPs | P | R | [email protected] |
---|---|---|---|---|---|
YOLOv5s | 7.3 M | 17.5 G | 91% | 88.4% | 93.1% |
YOLOv7-tiny | 6.35 M | 14.2 G | 91.2% | 89.1% | 93.4% |
YOLOv8n | 3.31 M | 8.7 G | 88.4% | 89.3% | 92.6% |
YOLOv8s | 11.4 M | 29.4 G | 91.5% | 89.2% | 93.5% |
SN-CNN(ours) | 2.37 M | 6.7 G | 93.9% | 90.2% | 94.6% |
Model | C2f_UIB | SimAM | Parameters | FLOPs | P | R | [email protected] |
---|---|---|---|---|---|---|---|
M1 | × | × | 3.31 M | 8.7 G | 88.4% | 89.3% | 92.6% |
M2 | √ | × | 2.37 M | 6.7 G | 90.2% | 88.3% | 92.8% |
M3 | × | √ | 3.31 M | 8.7 G | 92.6% | 90.5% | 93.7% |
M4 | √ | √ | 2.37 M | 6.7 G | 93.9% | 90.2% | 94.6% |
Methods | Number of Images | RMSE (Pixels) | ms/(Images) |
---|---|---|---|
SN-CNN + LS | 100 | 6.8 | 22 |
SN-CNN + RANSAC | 100 | 5.7 | 25 |
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Zhang, T.; Zhou, J.; Liu, W.; Yue, R.; Shi, J.; Zhou, C.; Hu, J. SN-CNN: A Lightweight and Accurate Line Extraction Algorithm for Seedling Navigation in Ridge-Planted Vegetables. Agriculture 2024, 14, 1446. https://doi.org/10.3390/agriculture14091446
Zhang T, Zhou J, Liu W, Yue R, Shi J, Zhou C, Hu J. SN-CNN: A Lightweight and Accurate Line Extraction Algorithm for Seedling Navigation in Ridge-Planted Vegetables. Agriculture. 2024; 14(9):1446. https://doi.org/10.3390/agriculture14091446
Chicago/Turabian StyleZhang, Tengfei, Jinhao Zhou, Wei Liu, Rencai Yue, Jiawei Shi, Chunjian Zhou, and Jianping Hu. 2024. "SN-CNN: A Lightweight and Accurate Line Extraction Algorithm for Seedling Navigation in Ridge-Planted Vegetables" Agriculture 14, no. 9: 1446. https://doi.org/10.3390/agriculture14091446