基于随机化网络的自主平台实时场景分类方法研究

Research on Real-Time Scene Classification of Autonomous Platform Based on Randomization-Based Network

  • 摘要: 场景分类使自主平台能够理解环境信息. 通常,基于随机化的神经网络能够快速识别场景信息,并且花费很少的时间训练权重. 然而,基于随机化的神经网络的浅层网络结构限制了其非线性表示能力. 此外,全连接的特征提取方式不能有效地提取局部特征信息. 集成框架能够有效提升精度,但会引入高模型复杂度及大量参数而大幅降低推理速度. 针对上述问题,提出一种基于多尺度卷积随机化的实时场景分类网络集成结构(multi-level convolutional randomization-based network ensemble architecture,E-MCRNet). 首先,基于随机化网络将全连接层替换为多尺度卷积层构成多尺度卷积随机化网络(multi-level convolutional randomization-based network,MCRNet);其次,多个MCRNet构成集成体系结构E-MCRNet. E-MCRNet由一个主隐藏层和多个子隐藏层组成,主隐藏层分别与每个子隐藏层级联形成分支网络. 测试结果表明,E-MCRNet可以提高精度以及降低集成模型的复杂度,而且能够部署于嵌入式设备有效地执行相关任务.

     

    Abstract: Scene classification enables the autonomous platform to understand the environmental information. For the scene classification task, randomization-based neural networks could quickly recognize the scene information and spend little time to train the weights. However, the shallow network structure of randomization-based neural networks limits the non-linear representation ability. Moreover, the fully connected method ineffectively extracts local feature information and introduces a large number of parameters. Ensemble architecture could effectively improve the accuracy. However, it introduces high computational complexity and lots of parameters, which will greatly slow down during inference. To tackle above problems, a multi-level convolutional randomization-based network ensemble architecture (E-MCRNet) was proposed for real-time scene classification tasks. Firstly, replacing the fully connected layer with multi-level convolutional layer, the randomization-based network was constructed a multi-level convolutional randomization-based network (MCRNet). Secondly, multiple MCRNets were combined to form an ensemble architecture named E-MCRNet. The E-MCRNet consists of one main-hidden layer and multiple sub-hidden layers. The main-hidden layer was concatenated with each sub-hidden layer to form component networks respectively. Testing results show that E-MCRNet can improve the accuracy and decrease model complexity. Moreover, it can be deployed on embedded equipment to deal with relevant tasks.

     

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