基于改进CNN-LSTM的挖掘机作业对象识别

胡从裕,殷晨波,马伟,杨超,颜士宽

Object recognition of excavator operation based on improved CNN-LSTM

Congyu HU,Chenbo YIN,Wei MA,Chao YANG,Shikuan YAN

表 7 各模型的实时预测时间

Tab.7 Real-time prediction time of each model

模型 ta/s ts/s CNN 1.61 0.0107 HBA-CNN 1.72 0.0115 GRU 2.19 0.0146 HBA-GRU 2.33 0.0155 LSTM 1.75 0.0117 HBA-LSTM 1.87 0.0125 CNN-LSTM-Attention 3.97 0.0265 HBA-CNN-LSTM-Attention 4.13 0.0275