基于多轴自注意力的无人机避障模型
UAV Obstacle Avoidance Model Based on Multi-axis Self-attention
王新文 1赵伟杰2
作者信息
- 1. 福州大学 先进制造学院,福建 泉州 362251
- 2. 中国科学院 海西研究院泉州装备制造研究中心,福建 泉州 362216
- 折叠
摘要
针对无人机在飞行过程中容易因旋翼碰撞而坠毁的问题,提出利用改进的图像识别模型实现自动预警.将瓶颈多轴自注意力模块(BMSA)嵌入到图像识别模型中进行改进,提升模型对细小物体的识别准确率.多轴自注意力层在低分辨率阶段替换原本卷积层,使得模型能够兼顾局部自注意力和全局自注意力.实验结果表明:改进得到的多轴自注意力的残差网络(MS-ResNet)具有较高的障碍物识别准确率,能实现较好的预警效果.
Abstract
To address the proneness of UAV crash due to rotor collision during flight,an improved image recognition model is proposed to achieve automatic warning.A bottleneck multi-axis self-attention module(BMSA)is embedded into the image recognition model for improvement,enabling the model to improve the recognition accuracy of the model for fine objects.The multi-axis self-attentive layer replaces the original convolutional layer in the low-resolution stage,enabling the model to obtain both local self-attention and global self-attention.The experiments show that the improved multi-axis self-attentive residual network(MS-ResNet)has high accuracy of obstacle recognition and achieve a better early warning effect.
关键词
图像识别/深度学习/自注意力机制/卷积神经网络/避障模型/无人机Key words
image recognition/deep learning/self-attention mechanism/convolutional neural network/obstacle avoidance model/UAV引用本文复制引用
基金项目
福建省科技计划引导性项目(2022H0042)
出版年
2024
国家科技期刊平台
NSTL
万方数据