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 6 障碍物检测数量的对比

Tab.6 Comparison of obstacle detection numbers

模型 Nc Nf Nm Nz YOLOv3 2 618 48 191 2 857 YOLOv4 2 656 42 159 2 857 YOLOv3-Tiny 2 515 59 283 2 857 YOLOv4-Tiny 2 554 51 252 2 857 YOLOv5 2 675 31 151 2 857 YOLOv6 2 652 47 158 2 857 YOLOv7 2 686 36 135 2 857 YOLOv8 2 692 42 123 2 857 PDM-YOLO 2 786 19 52 2 857