YOLO8 改进 009：引入 ASFF 对 YOLOv8 检测头进行优化（适用于小目标检测任务）

论文题目：Learning Spatial Fusion for Single-Shot Object Detection

论文地址：Paper - ASFF

官方源码：GitHub - GOATmessi8/ASFF

 简 介 

多尺度特征融合是解决多尺度目标检测问题的关键技术，其中 FPN（特征金字塔网络）通过自顶向下的特征融合机制，将高层语义特征与低层细节特征进行简单结合，提升了检测效果。然而，FPN 的融合方法由于未充分考虑不同层级的特征图之间存在表征不一致性，可能引入冲突信息，限制了融合效果的进一步提升。ASFF（自适应空间特征融合）通过动态加权机制，在不同尺度和空间位置上自适应地融合特征，有效抑制了层级特征间的冲突信息，提高了多尺度目标检测的效果。这种优化方式体现了特征融合理论中对层次差异和空间适应性的关注。

 核 心 代 码 

（1）融合相邻层与非相邻层：

import torch
import torch.nn as nn
from ultralytics.utils.tal import dist2bbox, make_anchors
import math
import torch.nn.functional as F

__all__ = ['ASFF_Detect']

def autopad(k, p=None, d=1):  # kernel, padding, dilation
    """Pad to 'same' shape outputs."""
    if d > 1:
        k = d * (k - 1) + 1 if isinstance(k, int) else [d * (x - 1) + 1 for x in k]  # actual kernel-size
    if p is None:
        p = k // 2 if isinstance(k, int) else [x // 2 for x in k]  # auto-pad
    return p


class Conv(nn.Module):
    """Standard convolution with args(ch_in, ch_out, kernel, stride, padding, groups, dilation, activation)."""
    default_act = nn.SiLU()  # default activation

    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, d=1, act=True):
        """Initialize Conv layer with given arguments including activation."""
        super().__init__()
        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p, d), groups=g, dilation=d, bias=False)
        self.bn = nn.BatchNorm2d(c2)
        self.act = self.default_act if act is True else act if isinstance(act, nn.Module) else nn.Identity()

    def forward(self, x):
        """Apply convolution, batch normalization and activation to input tensor."""
        return self.act(self.bn(self.conv(x)))

    def forward_fuse(self, x):
        """Perform transposed convolution of 2D data."""
        return self.act(self.conv(x))


class DFL(nn.Module):
    """
    Integral module of Distribution Focal Loss (DFL).
    Proposed in Generalized Focal Loss https://ieeexplore.ieee.org/document/9792391
    """

    def __init__(self, c1=16):
        """Initialize a convolutional layer with a given number of input channels."""
        super().__init__()
        self.conv = nn.Conv2d(c1, 1, 1, bias=False).requires_grad_(False)
        x = torch.arange(c1, dtype=torch.float)
        self.conv.weight.data[:] = nn.Parameter(x.view(1, c1, 1, 1))
        self.c1 = c1

    def forward(self, x):
        """Applies a transformer layer on input tensor 'x' and returns a tensor."""
        b, c, a = x.shape  # batch, channels, anchors
        return self.conv(x.view(b, 4, self.c1, a).transpose(2, 1).softmax(1)).view(b, 4, a)
        # return self.conv(x.view(b, self.c1, 4, a).softmax(1)).view(b, 4, a)


class ASFFV5(nn.Module):
    def __init__(self, level, ch, multiplier=1, rfb=False, vis=False, act_cfg=True):
        """
        ASFF version for YoloV5 .
        different than YoloV3
        multiplier should be 1, 0.5 which means, the channel of ASFF can be
        512, 256, 128 -> multiplier=1
        256, 128, 64 -> multiplier=0.5
        For even smaller, you need change code manually.
        """
        super(ASFFV5, self).__init__()
        self.level = level
        self.dim = [int(ch[2] * multiplier), int(ch[1] * multiplier),
                    int(ch[0] * multiplier)]
        # print(self.dim)

        self.inter_dim = self.dim[self.level]
        if level == 0:
            self.stride_level_1 = Conv(int(ch[1] * multiplier), self.inter_dim, 3, 2)

            self.stride_level_2 = Conv(int(ch[0] * multiplier), self.inter_dim, 3, 2)

            self.expand = Conv(self.inter_dim, i