A real-time lightweight object detector (RLOD) network

A real-time lightweight object detector (RLOD) for the mobile embedded platform is proposed for underwater manipulation. Do the following to see the detailed network.
1、Copy the following codes and paste it into http://ethereon.github.io/netscope/#/editor. （Google Chrome should be used.）

2、 Push Shift+Enter to update the visualization.

name: "MobDenseNet-DSSD"
input: "data"
input_shape {
  dim: 1
  dim: 3
  dim: 416
  dim: 416
}
layer {
  name: "conv1_0"
  type: "Convolution"
  bottom: "data"
  top: "conv1_0"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    pad: 1
    kernel_size: 3
    stride: 2
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv1_0/relu"
  type: "ReLU"
  bottom: "conv1_0"
  top: "conv1_0"
}
layer {
  name: "conv1_1/expand"
  type: "Convolution"
  bottom: "conv1_0"
  top: "conv1_1/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv1_1/expand/relu"
  type: "ReLU"
  bottom: "conv1_1/expand"
  top: "conv1_1/expand"
}
layer {
  name: "conv1_1/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv1_1/expand"
  top: "conv1_1/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    pad: 1
    kernel_size: 3
    group: 32
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv1_1/depthwise/relu"
  type: "ReLU"
  bottom: "conv1_1/depthwise"
  top: "conv1_1/depthwise"
}
layer {
  name: "conv1_1/project"
  type: "Convolution"
  bottom: "conv1_1/depthwise"
  top: "conv1_1/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv1_1/sum"
  type: "Eltwise"
  bottom: "conv1_0"
  bottom: "conv1_1/project"
  top: "conv1_1"
}
layer {
  name: "pooling2_0"
  type: "Pooling"
  bottom: "conv1_1"
  top: "pooling2_0"
  pooling_param {
    pool: MAX
    kernel_size: 2
    stride: 2
  }
}
layer {
  name: "pooling2_0/scale_relu"
  type: "Scale"
  bottom: "pooling2_0"
  top: "pooling2_0/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "pooling2_0/relu"
  type: "ReLU"
  bottom: "pooling2_0/relu"
  top: "pooling2_0/relu"
}
layer {
  name: "conv2_0/expand"
  type: "Convolution"
  bottom: "pooling2_0/relu"
  top: "conv2_0/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv2_0/expand/relu"
  type: "ReLU"
  bottom: "conv2_0/expand"
  top: "conv2_0/expand"
}
layer {
  name: "conv2_0/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv2_0/expand"
  top: "conv2_0/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv2_0/depthwise/relu"
  type: "ReLU"
  bottom: "conv2_0/depthwise"
  top: "conv2_0/depthwise"
}
layer {
  name: "conv2_0/project"
  type: "Convolution"
  bottom: "conv2_0/depthwise"
  top: "conv2_0/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "concat2_0"
  type: "Concat"
  bottom: "conv2_0/project"
  bottom: "pooling2_0"
  top: "concat2_0"
  concat_param {
    axis: 1
  }
}
layer {
  name: "concat2_0/scale_relu"
  type: "Scale"
  bottom: "concat2_0"
  top: "concat2_0/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "concat2_0/relu"
  type: "ReLU"
  bottom: "concat2_0/relu"
  top: "concat2_0/relu"
}
layer {
  name: "conv2_1/expand"
  type: "Convolution"
  bottom: "concat2_0/relu"
  top: "conv2_1/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv2_1/expand/relu"
  type: "ReLU"
  bottom: "conv2_1/expand"
  top: "conv2_1/expand"
}
layer {
  name: "conv2_1/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv2_1/expand"
  top: "conv2_1/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv2_1/depthwise/relu"
  type: "ReLU"
  bottom: "conv2_1/depthwise"
  top: "conv2_1/depthwise"
}
layer {
  name: "conv2_1/project"
  type: "Convolution"
  bottom: "conv2_1/depthwise"
  top: "conv2_1/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "concat2_1"
  type: "Concat"
  bottom: "conv2_1/project"
  bottom: "concat2_0"
  top: "concat2_1"
  concat_param {
    axis: 1
  }
}
layer {
  name: "concat2_1/scale_relu"
  type: "Scale"
  bottom: "concat2_1"
  top: "concat2_1/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "concat2_1/relu"
  type: "ReLU"
  bottom: "concat2_1/relu"
  top: "concat2_1/relu"
}
layer {
  name: "conv2_2/expand"
  type: "Convolution"
  bottom: "concat2_1/relu"
  top: "conv2_2/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv2_2/expand/relu"
  type: "ReLU"
  bottom: "conv2_2/expand"
  top: "conv2_2/expand"
}
layer {
  name: "conv2_2/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv2_2/expand"
  top: "conv2_2/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv2_2/depthwise/relu"
  type: "ReLU"
  bottom: "conv2_2/depthwise"
  top: "conv2_2/depthwise"
}
layer {
  name: "conv2_2/project"
  type: "Convolution"
  bottom: "conv2_2/depthwise"
  top: "conv2_2/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "concat2_2"
  type: "Concat"
  bottom: "conv2_2/project"
  bottom: "concat2_1"
  top: "concat2_2"
  concat_param {
    axis: 1
  }
}
layer {
  name: "concat2_2/scale_relu"
  type: "Scale"
  bottom: "concat2_2"
  top: "concat2_2/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "concat2_2/relu"
  type: "ReLU"
  bottom: "concat2_2/relu"
  top: "concat2_2/relu"
}
layer {
  name: "transition2_0"
  type: "Convolution"
  bottom: "concat2_2/relu"
  top: "transition2_0"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "pooling3_0"
  type: "Pooling"
  bottom: "transition2_0"
  top: "pooling3_0"
  pooling_param {
    pool: MAX
    kernel_size: 2
    stride: 2
  }
}
layer {
  name: "pooling3_0/scale_relu"
  type: "Scale"
  bottom: "pooling3_0"
  top: "pooling3_0/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "pooling3_0/relu"
  type: "ReLU"
  bottom: "pooling3_0/relu"
  top: "pooling3_0/relu"
}
layer {
  name: "conv3_0/expand"
  type: "Convolution"
  bottom: "pooling3_0/relu"
  top: "conv3_0/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_0/expand/relu"
  type: "ReLU"
  bottom: "conv3_0/expand"
  top: "conv3_0/expand"
}
layer {
  name: "conv3_0/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv3_0/expand"
  top: "conv3_0/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_0/depthwise/relu"
  type: "ReLU"
  bottom: "conv3_0/depthwise"
  top: "conv3_0/depthwise"
}
layer {
  name: "conv3_0/project"
  type: "Convolution"
  bottom: "conv3_0/depthwise"
  top: "conv3_0/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "concat3_0"
  type: "Concat"
  bottom: "conv3_0/project"
  bottom: "pooling3_0"
  top: "concat3_0"
  concat_param {
    axis: 1
  }
}
layer {
  name: "concat3_0/scale_relu"
  type: "Scale"
  bottom: "concat3_0"
  top: "concat3_0/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "concat3_0/relu"
  type: "ReLU"
  bottom: "concat3_0/relu"
  top: "concat3_0/relu"
}
layer {
  name: "conv3_1/expand"
  type: "Convolution"
  bottom: "concat3_0/relu"
  top: "conv3_1/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_1/expand/relu"
  type: "ReLU"
  bottom: "conv3_1/expand"
  top: "conv3_1/expand"
}
layer {
  name: "conv3_1/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv3_1/expand"
  top: "conv3_1/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_1/depthwise/relu"
  type: "ReLU"
  bottom: "conv3_1/depthwise"
  top: "conv3_1/depthwise"
}
layer {
  name: "conv3_1/project"
  type: "Convolution"
  bottom: "conv3_1/depthwise"
  top: "conv3_1/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "concat3_1"
  type: "Concat"
  bottom: "conv3_1/project"
  bottom: "concat3_0"
  top: "concat3_1"
  concat_param {
    axis: 1
  }
}
layer {
  name: "concat3_1/scale_relu"
  type: "Scale"
  bottom: "concat3_1"
  top: "concat3_1/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "concat3_1/relu"
  type: "ReLU"
  bottom: "concat3_1/relu"
  top: "concat3_1/relu"
}
layer {
  name: "conv3_2/expand"
  type: "Convolution"
  bottom: "concat3_1/relu"
  top: "conv3_2/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_2/expand/relu"
  type: "ReLU"
  bottom: "conv3_2/expand"
  top: "conv3_2/expand"
}
layer {
  name: "conv3_2/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv3_2/expand"
  top: "conv3_2/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_2/depthwise/relu"
  type: "ReLU"
  bottom: "conv3_2/depthwise"
  top: "conv3_2/depthwise"
}
layer {
  name: "conv3_2/project"
  type: "Convolution"
  bottom: "conv3_2/depthwise"
  top: "conv3_2/project"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 32
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "concat3_2"
  type: "Concat"
  bottom: "conv3_2/project"
  bottom: "concat3_1"
  top: "concat3_2"
  concat_param {
    axis: 1
  }
}
layer {
  name: "concat3_2/scale_relu"
  type: "Scale"
  bottom: "concat3_2"
  top: "concat3_2/relu"
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  scale_param {
    filler {
      value: 1.0
    }
    bias_term: true
    bias_filler {
      value: 0.0
    }
  }
}
layer {
  name: "concat3_2/relu"
  type: "ReLU"
  bottom: "concat3_2/relu"
  top: "concat3_2/relu"
}
layer {
  name: "conv3_3/expand"
  type: "Convolution"
  bottom: "concat3_2/relu"
  top: "conv3_3/expand"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    kernel_size: 1
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_3/expand/relu"
  type: "ReLU"
  bottom: "conv3_3/expand"
  top: "conv3_3/expand"
}
layer {
  name: "conv3_3/depthwise"
  type: "DepthwiseConvolution"
  bottom: "conv3_3/expand"
  top: "conv3_3/depthwise"
  param {
    lr_mult: 1.0
    decay_mult: 1.0
  }
  param {
    lr_mult: 1.0
    decay_mult: 0.0
  }
  convolution_param {
    num_output: 128
    pad: 1
    kernel_size: 3
    group: 128
    weight_filler {
      type: "msra"
    }
    bias_filler {
      type: "constant"
      value: 0.0
    }
  }
}
layer {
  name: "conv3_3/depthwise/relu"
  type: "ReLU"
  bottom: "conv3_