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_