Light detection and ranging sensors (LIDAR) play a fundamental role in the perception systems of Unmanned Ground Vehicles. However, particulate matters existing in smog scenarios such as fire disasters seriously degrade the robustness of LIDAR-based algorithms. Therefore, it’s essential for UGV to recognize and locate smog. Based on the Class Activation Map (CAM), we propose a lightweight smog detection model, where an active annotation method combining with activation loss is designed for enhancing the quality of CAM. Experiments demonstrate the effectiveness of the proposed method with just 4ms time costs on GTX-1050ti.
Lightweight Smog Detection Model for Unmanned Ground Vehicle Based on Interpretability of Neural Networks
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 9 ; 83-92
2022-03-18
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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