YOLO改进：添加额外的检测头

YOLOv5中的检测头分析

对于YOLO而言，其原始结构为三个检测头（P3、P4、P5），从上到下代表着检测头对小尺度、中尺度、大尺度的检测能力。然而，对于小目标对象而言，存在特征少、语义特征不明显、容易随不断地卷积导致特征被淹没的问题。COCO数据集给出了小目标的定义：[32, 32]尺寸的目标即为小目标。对于P3检测头而言，特征层的大小为[80, 80]，相比于原有的输入特征图尺寸，下采样了8倍。对于小目标而言，P3处的特征就下采样为小于[4, 4]大小的特征图了，存在了特征少的问题，进而导致P3检测头对小目标对象检测能力不佳。因此，可以考虑在P2层增加一个检测头，以提高对小目标的检测能力。

YOLOv5中添加浅层P2检测头

在代码层面，无需任何修改，只需要对yaml文件进行修改即可。实际上，YOLOv5官方也已经有实现，可以在文件夹hub中找到yolov5-p2.yaml文件。此时，检测头有四个。

# YOLOv5 🚀 by Ultralytics, AGPL-3.0 license

# Parameters
nc: 80  # number of classes
depth_multiple: 0.33  # model depth multiple
width_multiple: 0.50  # layer channel multiple
anchors: 3  # AutoAnchor evolves 3 anchors per P output layer

# YOLOv5 v6.0 backbone
backbone:
  # [from, number, module, args]
  [[-1, 1, Conv, [64, 6, 2, 2]],  # 0-P1/2
   [-1, 1, Conv, [128, 3, 2]],  # 1-P2/4
   [-1, 3, C3, [128]],
   [-1, 1, Conv, [256, 3, 2]],  # 3-P3/8
   [-1, 6, C3, [256]],
   [-1, 1, Conv, [512, 3, 2]],  # 5-P4/16
   [-1, 9, C3, [512]],
   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
   [-1, 3, C3, [1024]],
   [-1, 1, SPPF, [1024, 5]],  # 9
  ]

# YOLOv5 v6.0 head with (P2, P3, P4, P5) outputs
head:
  [[-1, 1, Conv, [512, 1, 1]],
   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
   [[-1, 6], 1, Concat, [1]],  # cat backbone P4
   [-1, 3, C3, [512, False]],  # 13

   [-1, 1, Conv, [256, 1, 1]],
   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
   [[-1, 4], 1, Concat, [1]],  # cat backbone P3
   [-1, 3, C3, [256, False]],  # 17 (P3/8-small)

   [-1, 1, Conv, [128, 1, 1]],
   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
   [[-1, 2], 1, Concat, [1]],  # cat backbone P2
   [-1, 1, C3, [128, False]],  # 21 (P2/4-xsmall)

   [-1, 1, Conv, [128, 3, 2]],
   [[-1, 18], 1, Concat, [1]],  # cat head P3
   [-1, 3, C3, [256, False]],  # 24 (P3/8-small)

   [-1, 1, Conv, [256, 3, 2]],
   [[-1, 14], 1, Concat, [1]],  # cat head P4
   [-1, 3, C3, [512, False]],  # 27 (P4/16-medium)

   [-1, 1, Conv, [512, 3, 2]],
   [[-1, 10], 1, Concat, [1]],  # cat head P5
   [-1, 3, C3, [1024, False]],  # 30 (P5/32-large)

   [[21, 24, 27, 30], 1, Detect, [nc, anchors]],  # Detect(P2, P3, P4, P5)
  ]

YOLOv5中添加P234检测头

如果数据集中，主要是小目标，那么可以删除P5检测头，添加P2检测头，这样不至于增加过多的参数，又可以提高对小目标的检测能力。

# YOLOv5 🚀 by Ultralytics, AGPL-3.0 license

# Parameters
nc: 80  # number of classes
depth_multiple: 0.33  # model depth multiple
width_multiple: 0.50  # layer channel multiple
anchors: 3  # AutoAnchor evolves 3 anchors per P output layer

# YOLOv5 v6.0 backbone
backbone:
  # [from, number, module, args]
  [[-1, 1, Conv, [64, 6, 2, 2]],  # 0-P1/2
   [-1, 1, Conv, [128, 3, 2]],  # 1-P2/4
   [-1, 3, C3, [128]],
   [-1, 1, Conv, [256, 3, 2]],  # 3-P3/8
   [-1, 6, C3, [256]],
   [-1, 1, Conv, [512, 3, 2]],  # 5-P4/16
   [-1, 9, C3, [512]],
   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
   [-1, 3, C3, [1024]],
   [-1, 1, SPPF, [1024, 5]],  # 9
  ]

# YOLOv5 v6.0 head with (P2, P3, P4, P5) outputs
head:
  [[-1, 1, Conv, [512, 1, 1]],
   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
   [[-1, 6], 1, Concat, [1]],  # cat backbone P4
   [-1, 3, C3, [512, False]],  # 13

   [-1, 1, Conv, [256, 1, 1]],
   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
   [[-1, 4], 1, Concat, [1]],  # cat backbone P3
   [-1, 3, C3, [256, False]],  # 17 (P3/8-small)

   [-1, 1, Conv, [128, 1, 1]],
   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
   [[-1, 2], 1, Concat, [1]],  # cat backbone P2
   [-1, 1, C3, [128, False]],  # 21 (P2/4-xsmall)

   [-1, 1, Conv, [128, 3, 2]],
   [[-1, 18], 1, Concat, [1]],  # cat head P3
   [-1, 3, C3, [256, False]],  # 24 (P3/8-small)

   [-1, 1, Conv, [256, 3, 2]],
   [[-1, 14], 1, Concat, [1]],  # cat head P4
   [-1, 3, C3, [512, False]],  # 27 (P4/16-medium)

   [[21, 24, 27], 1, Detect, [nc, anchors]],  # Detect(P2, P3, P4)
  ]

VisDrone数据集的实验

在VisDrone数据集中测试上述的改进。以YOLOv5s作为基准，mAP为32.9%。使用P2345检测头，mAP为34.7。而使用P234检测头，mAP为35.8%。说明浅层检测头的增加有助于对小目标的检测，且提高的幅度较大。

百度云：6sy2


百度云：qxb1