煤矿井下无人驾驶轨道电机车障碍物识别
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杨豚,郭永存,王爽,马鑫
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Obstacle recognition of unmanned rail electric locomotive in underground coal mine
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Tun YANG,Yongcun GUO,Shuang WANG,Xin MA
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| 表 4 不同模型的对比分析 |
| Tab.4 Comparative analysis of different models |
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| 模型 | AP0.5/% | mAP0.5/% | FLOPs /109 | v/(帧·s−1) | 内存/MB | | Miner | Locomotive | Mine_car | Flat_car | Gangue | | YOLOv3 | 94.1 | 96.6 | 91.2 | 92.3 | 91.6 | 93.2 | 154.6 | 27.0 | 246.4 | | YOLOv4 | 94.2 | 97.5 | 93.0 | 90.1 | 90.8 | 93.1 | 141.1 | 31.8 | 256.1 | | YOLOv3-Tiny | 92.3 | 93.8 | 91.8 | 80.6 | 86.4 | 88.9 | 12.9 | 117.8 | 34.7 | | YOLOv4-Tiny | 91.3 | 93.4 | 91.9 | 80.8 | 86.1 | 88.7 | 16.1 | 126.5 | 23.6 | | YOLOv5 | 93.1 | 97.8 | 92.3 | 85.3 | 97.2 | 93.1 | 15.9 | 118.9 | 14.4 | | YOLOv6 | 93.8 | 96.2 | 93.2 | 87.2 | 97.2 | 93.5 | 44.1 | 109.8 | 38.0 | | YOLOv7 | 95.1 | 97.1 | 92.3 | 90.8 | 93.1 | 93.7 | 26.1 | 105.2 | 19.0 | | YOLOv8 | 94.2 | 97.8 | 91.7 | 92.9 | 92.8 | 93.9 | 28.4 | 111.3 | 22.5 | | PDM-YOLO | 96.3 | 97.7 | 94.6 | 99.1 | 93.7 | 96.3 | 33.4 | 109.2 | 26.6 |
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