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요약정보
基于深度学习的焊缝视觉跟踪方法研究 / Research on weld visual tracking method based on deep learning
Resource Type
Academic Journal
Authors
邓贤东
;
刘春华
;
陈晓辉
;
杨怀林
;
高润智
;
臧红彬
;
DENG Xiandong
;
LIU Chunhua
;
CHEN Xiaohui
;
YANG Huailin
;
GAO Runzhi
;
ZANG Hongbin
Source
现代制造工程 / Modern Manufacturing Engineering
. (6):124-131
Subject
图像处理
罐体检修
深度学习
SegFormer
焊缝视觉跟踪
Language
Chinese
ISSN
1671-3133
Online Access
Find it @ DONGA
초록
针对爬罐机器人在球罐上对焊缝的识别和跟踪困难导致焊缝检测效率低的问题,自制了罐体表面焊缝数据集,并提出了一种基于深度学习的焊缝视觉跟踪方法.首先,以Patch Expanding替换双线性插值作为上采样方法,减少上采样带来的精度损失;然后,在掩码分割前嵌入了递归空洞自注意力机制,提高模型的表征能力,从而获得更好的分割精度;最后,在罐体表面焊缝数据集上进行实验,实验结果表明,对比原始模型,改进SegFormer图像语义分割模型的平均交并比提高了 2.41%.在改进算法分割焊缝的基础上,利用分割出的焊缝掩码图像提取中心线作为焊缝路径,用于引导爬罐机器人运动,以实现焊缝视觉跟踪.
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