煤矿井下无人驾驶轨道电机车障碍物识别

杨豚,郭永存,王爽,马鑫

Obstacle recognition of unmanned rail electric locomotive in underground coal mine

Tun YANG,Yongcun GUO,Shuang WANG,Xin MA

表 2 模型训练超参数设定

Tab.2 Model training hyper-parameter setting

超参数 参数值 输入图像尺寸(image size) 640×640 学习率(learning rate) 0.01 动量(momentum) 0.937 权重衰减系数(weight decay) 0.0005 色调(hue augmentation) 0.015 饱和度(saturation augmentation) 0.7 曝光度(value augmentation) 0.4 Mosaic 1.0 Mixup 1.0