基于语义分割的启发式采样路径规划算法
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潘嘉威,王淳立,郑秀娟,涂海燕
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Heuristic sampling path planning algorithm based on semantic segmentation
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Jiawei PAN,Chunli WANG,Xiujuan ZHENG,Haiyan TU
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| 表 1 最优路径区域预测网络模型的模块消融实验结果 |
| Tab.1 Results of module ablation experiments for optimal path area prediction network model |
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| 网络架构 | RC/% | t/ms | P/106 | | 基线模型 | 93.58 | 27.54 | 5.81 | | ResNet-18 | 89.59(−3.99) | 28.27 | 6.33 | | ResNet-50 | 86.70(−6.88) | 141.50 | 17.74 | | RegNet | 91.28(−2.30) | 26.95 | 6.33 | | +CBAM | 94.04(+0.46) | 28.80 | 5.86 | | +CA | 93.81(+0.23) | 27.94 | 5.84 | | +CCA | 94.27(+0.69) | 28.96 | 5.91 | | +HA | 94.72(+1.14) | 29.12 | 5.95 | | +GFE | 95.18(+1.60) | 32.08 | 6.02 | | +SAC | 94.95(+1.37) | 31.91 | 5.23 | | +GFE+CBAM+SAC | 95.64(+2.06) | 32.13 | 5.49 | | +GFE+HA+SAC | 96.56(+2.98) | 32.70 | 5.57 |
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