{"id":11170,"date":"2021-06-17T13:07:00","date_gmt":"2021-06-17T05:07:00","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=11170"},"modified":"2022-08-02T17:25:45","modified_gmt":"2022-08-02T09:25:45","slug":"duckietown-duckiebot-db21m-part5","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2021\/06\/17\/duckietown-duckiebot-db21m-part5\/","title":{"rendered":"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e94) &#8211; Object Detection \u7269\u4ef6\u5075\u6e2c(\u4e0a)"},"content":{"rendered":"\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1501\" height=\"790\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/V2LINE_\u5de5\u4f5c\u5340\u57df-1-\u8907\u672c.jpg\" alt=\"DB21M-5\" class=\"wp-image-11808\"\/><figcaption>DB21M-5<\/figcaption><\/figure>\n\n\n\n<p>\u60f3\u8981\u4e86\u89e3\u66f4\u591a\u6709\u95dc Duckietown \u7cfb\u5217\u7684\u64cd\u4f5c\u6587\u7ae0\uff0c\u8acb\u53c3\u8003\u4ee5\u4e0b\u6587\u7ae0 :<\/p>\n\n\n\n<ul><li><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\"><strong>Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39<\/strong><\/a><\/li><li><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/?preview_id=10575&amp;preview_nonce=11160c3e23&amp;preview=true&amp;_thumbnail_id=11032\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\"><strong>Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/strong><\/a><\/li><li><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/05\/19\/duckietown-duckiebot-db21m-part2\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\"><strong>Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) \u2013 differential drive configuration\u7684\u4f7f\u7528<\/strong><\/a><\/li><li><strong><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/06\/16\/duckietown-db21m-part3\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e09) \u2013 PID controller \u7684\u4f7f\u7528<\/a><\/strong><\/li><li><strong><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/05\/25\/duckietown-duckiebot-db21m-part4\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u56db) \u2013 Camera Calibration \u76f8\u6a5f\u6821\u6b63<\/a><\/strong><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u524d\u8a00<\/h2>\n\n\n\n<p>\u5728\u4e0a\u4e00\u7bc7\u6587\u7ae0 <strong>\u300cDuckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u56db) \u2013 Camera Calibrate\u300d<\/strong> \u4e2d\uff0c\u6211\u5011\u5c07 Dcukiebot DB21M(\u4ee5\u4e0b\u7c21\u7a31\u5c0f\u9d28\u8eca)\u7684\u4e3b\u8981\u611f\u6e2c\u5668 &#8211; \u76f8\u6a5f\uff0c\u4f7f\u7528\u76f8\u6a5f\u672c\u8eab\u6821\u6b63\u8207\u5b9a\u5411\u6821\u6b63\u65b9\u6cd5\uff0c\u627e\u51fa\u76f8\u6a5f\u7684\u91dd\u5b54\u6210\u50cf\u6a21\u578b\u76f8\u95dc\u53c3\u6578\u3002\u76f8\u6a5f\u6821\u6b63\u5b8c\u6210\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u958b\u59cb\u4f7f\u7528\u76f8\u6a5f\u4f5c\u70ba\u4e3b\u8981\u611f\u6e2c\u5668\uff0c\u53bb\u57f7\u884c\u5404\u7a2e\u5c08\u6848\u3002\u672c\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u63a2\u8a0e\u6700\u591a\u4eba\u4f7f\u7528\u76f8\u6a5f\u6240\u505a\u7684\u5c08\u6848 &#8211; <strong>\u7269\u4ef6\u5075\u6e2c(Object Detection)<\/strong>\u3002<\/p>\n\n\n\n<p>\u672c\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u6703\u5206\u6210\u4ee5\u4e0b\u4e09\u500b\u90e8\u5206\uff0c\u4e00\u6b65\u4e00\u6b65\u8a0e\u8ad6\u7269\u4ef6\u5075\u6e2c\u6240\u9700\u8981\u7684\u57fa\u790e\u77e5\u8b58\uff1a<\/p>\n\n\n\n<ul><li><strong>\u9ad8\u968e\u8996\u89ba\u611f\u77e5\u7c21\u4ecb<\/strong><\/li><li><strong>\u7269\u4ef6\u5075\u6e2c\u7684\u63a2\u8a0e<\/strong><\/li><li><strong>\u7e3d\u7d50<\/strong><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u9ad8\u968e\u8996\u89ba\u611f\u77e5\u7c21\u4ecb&nbsp;<\/h2>\n\n\n\n<p>\u5728\u4e0a\u4e00\u7bc7\u6587\u7ae0\u4e2d\uff0c\u6211\u5011\u64cd\u4f5c\u4e86\u76f8\u6a5f\u6821\u6b63\u4ee5\u627e\u5230\u53c3\u6578\uff0c\u8b93\u5c0f\u9d28\u8eca\u5728\u64f7\u53d6\u5f71\u50cf\u8cc7\u8a0a\u6642\uff0c\u4e0d\u81f3\u65bc\u8207\u5be6\u969b\u74b0\u5883\u6709\u904e\u591a\u7684\u8aa4\u5dee\u51fa\u73fe\uff0c\u9019\u90e8\u5206\u4f7f\u7528\u5230\u7684\u662f\u4f4e\u968e\u8996\u89ba\u611f\u77e5\u6280\u8853\u3002\u4f46\u6709\u7684\u6642\u5019\uff0c\u6211\u5011\u6703\u9700\u8981\u5f9e\u4e00\u5f35\u5716\u7247\u4e2d\uff0c\u63a8\u8ad6\u66f4\u591a\u6709\u610f\u7fa9\u7684\u7269\u9ad4\uff0c\u4f8b\u5982\u969c\u7919\u7269\uff0c\u9019\u6642\u5c31\u9700\u8981\u4f7f\u7528\u5230\u300c\u9ad8\u968e\u8996\u89ba\u611f\u77e5\u6280\u8853(Advanced Visual Perception)\u300d\u3002\u5c0d\u65bc\u5c0f\u9d28\u8eca\u9019\u7a2e\u81ea\u52d5\u99d5\u99db\u8eca\u4f86\u8aaa\uff0c\u6709\u610f\u7fa9\u7684\u7269\u9ad4\u53ef\u80fd\u6703\u662f\u8eca\u5b50\u3001\u884c\u4eba\u3001\u4ea4\u901a\u865f\u8a8c\u9053\u8def\u6a19\u793a\u7b49\u7b49\uff0c\u9019\u4e9b\u7269\u9ad4\u90fd\u5305\u542b\u4e86\u5e7e\u4f55\u5f62\u72c0\u8207\u8a9e\u7fa9\u7684\u8cc7\u8a0a\u3002\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u5c07\u5b9a\u7fa9\u4e00\u4e9b\u4e0d\u540c\u7684\u4ecb\u7d39\u4e09\u500b\u9ad8\u968e\u8996\u89ba\u611f\u77e5\u4efb\u52d9\uff1a\u5f71\u50cf\u5206\u985e\u3001\u7269\u4ef6\u5075\u6e2c\u8207\u8a9e\u7fa9\u5206\u5272\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u5f71\u50cf\u5206\u985e(Image Classification )<\/h3>\n\n\n\n<p>\u5728\u5f71\u50cf\u5206\u985e\u7684\u4efb\u52d9\u4e2d\uff0c\u6211\u5011\u5c07\u6703\u7d66\u4e88\u7cfb\u7d71\u4e00\u5f35\u5716\u7247\uff0c\u5176\u4e2d\u5305\u542b\u4e86\u4e00\u500b\u7269\u9ad4\uff0c\u96a8\u5f8c\u7cfb\u7d71\u5247\u6703\u6b63\u78ba\u5730\u8fa8\u8b58\u51fa\u5f71\u50cf\u4e2d\u7684\u7269\u9ad4\u662f\u5c6c\u65bc\u54ea\u500b\u5206\u985e\u3002\u4f8b\u5982\u6211\u5011\u7d66\u5c0f\u9d28\u8eca\u4e00\u500b\u9d28\u5b50\u7684\u5716\u7247\uff0c\u5b83\u53ef\u4ee5\u6b63\u78ba\u5730\u8fa8\u8b58\u51fa\uff0d\u9d28\u5b50\u3002\u5728\u8fa8\u8b58\u9d28\u5b50\u7684\u4efb\u52d9\u4e2d\uff0c\u5c0f\u9d28\u8eca\u50c5\u9700\u8981\u77e5\u9053\u5f71\u50cf\u4e2d\u7684\u4e00\u500b\u7269\u9ad4\uff0c\u4e26\u4e14\u4e0d\u9700\u8981\u77e5\u9053\u9d28\u5b50\u7684\u4f4d\u7f6e\uff0c\u4f4d\u5728\u5716\u7247\u4e2d\u7684\u54ea\u500b\u5730\u65b9\u3002\u7136\u800c\u9019\u6a23\u5b50\u55ae\u7d14\u7684\u5f71\u50cf\u5206\u985e\uff0c\u4e26\u4e0d\u9069\u5408\u7528\u5728\u81ea\u52d5\u99d5\u99db\u8eca\u4e0a\uff0c\u56e0\u70ba\u81ea\u52d5\u99d5\u99db\u8eca\u9084\u9700\u8981\u77e5\u9053\u7269\u9ad4\u5728\u5716\u7247\u4e2d\u7684\u54ea\u500b\u65b9\u4f4d\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002 <\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/mhzIDC9qn2AEoO0S8mLbOlHMod4Ie7MBE_fo2jW7H-6troSaDaLojbrhAjmYL3uRaQsfjROCXJuI9cgkl2NGunaTDWsi3KpoIAOpZDIAMsRpeoLSCI_7GQHv3QMXHiA_DbOhXpT4\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u7269\u4ef6\u5075\u6e2c(Object Detection)<\/h3>\n\n\n\n<p>\u7269\u4ef6\u5075\u6e2c\u662f\u4e00\u500b\u6bd4\u5f71\u50cf\u5206\u985e\u9084\u8981\u56f0\u96e3\u7684\u4efb\u52d9\uff0c\u539f\u56e0\u5728\u65bc\u540c\u4e00\u500b\u5716\u7247\u4e2d\uff0c\u53ef\u80fd\u6703\u6709\u591a\u7a2e\u4e0d\u540c\u7684\u7269\u9ad4\u51fa\u73fe\u3002\u5728\u7269\u4ef6\u5075\u6e2c\u4efb\u52d9\u4e2d\uff0c\u6211\u5011\u9700\u8981\u77e5\u9053\u5716\u7247\u4e2d\u51fa\u73fe\u7684\u5404\u7a2e\u4e0d\u540c\u7269\u9ad4\uff0c\u4e26\u4e14\u4ee5\u300c\u908a\u754c\u6846(Bounding box, \u6216\u7a31\u5b9a\u754c\u6846)\u300d\u4f86\u6a19\u793a\u51fa\u7269\u9ad4\u5728\u5716\u7247\u4e2d\u7684\u65b9\u4f4d\u3002\u4f46\u9019\u4e26\u4e0d\u662f\u5f71\u50cf\u5206\u5272\uff0c\u56e0\u70ba\u7269\u4ef6\u5075\u6e2c\u4e0d\u9700\u8981\u77e5\u9053\u6bcf\u500b\u50cf\u7d20\u683c\u6240\u4ee3\u8868\u7684\u7cbe\u6e96\u5206\u985e\u3002\u7269\u4ef6\u5075\u6e2c\u4e0d\u6703\u53bb\u95dc\u6ce8\u4e0d\u662f\u7269\u9ad4\u7684\u5340\u57df\uff0c\u800c\u662f\u5c08\u6ce8\u5728\u63d0\u4f9b\u4e00\u500b\u5b8c\u6574\u7684\u8a3b\u91cb\u7d66\u4e88\u88ab\u908a\u754c\u6846\u6846\u5b9a\u7684\u7269\u9ad4\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002 <\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/LA3hHXS2m9qR27rEdgVY3Rfx8DsKg3eDHW57prDtXi7XpGKBupdo8tHLt35tiKXuZlrgGyl9wdMK7IZdApAV9fBHR2yHSr8uvmSLZXp9zxb3zNtUfp7dbnZ8_8ET9JHqtLT8dmu9\" alt=\"\" width=\"471\" height=\"353\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u8a9e\u7fa9\u5206\u5272(<strong>Semantic segmentation<\/strong>)<\/h3>\n\n\n\n<p>\u8a9e\u7fa9\u5206\u5272\uff0c\u4e5f\u7a31\u70ba\u5716\u50cf\u5206\u5272(Image segmentation)\uff0c\u9019\u9805\u6280\u8853\u7684\u7684\u4efb\u52d9\u662f\u627e\u51fa\u5716\u7247\u4e2d\u6bcf\u4e00\u500b\u50cf\u7d20\u683c(Pixel)\uff0c\u6240\u5c0d\u61c9\u7684\u6a19\u7c64\u3002\u8209\u500b\u4f8b\u5b50\uff0c\u5728\u4e00\u5f35\u5716\u7247\uff0c\u6709\u5f88\u591a\u96bb\u7684\u5c0f\u9d28\u8207\u4ea4\u901a\u865f\u8a8c\uff0c\u9019\u6642\u6211\u5011\u5c31\u53ef\u4ee5\u4f7f\u7528\u8a9e\u7fa9\u5206\u5272\uff0c\u5c07\u5c0f\u9d28\u8207\u4ea4\u901a\u865f\u8a8c\u6240\u4f54\u6709\u7684\u50cf\u7d20\u683c\u5168\u90e8\u6a19\u793a\u51fa\u4f86\uff0c\u9019\u770b\u8d77\u4f86\u5c31\u6703\u50cf\u662f\u628a\u5c0f\u9d28\u8207\u4ea4\u901a\u865f\u8a8c\u7684\u8f2a\u5ed3\u756b\u51fa\u4f86\uff0c\u96a8\u5f8c\u518d\u7d66\u4e88\u6a19\u7c64\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002 <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/dC0qKQ3brP48GVE1DATcG2XLC8-x0g4lsIoH4bYwXL_lfvdiXcZ_KtNxyIgTl23eIgtbTXdJeEY-NQT0F0IMGR8SGzYSqAlZruCRz_I5RnC-Pp7yuRYRbRaN0TS5i4kLkm3EbqEn\" alt=\"\"\/><figcaption>\u5de6\u70ba\u539f\u5716\u3001\u53f3\u70ba\u8a9e\u7fa9\u5206\u5272<\/figcaption><\/figure>\n\n\n\n<p>\u4e0a\u8ff0\u7684\u5f71\u50cf\u5206\u985e\u3001\u7269\u4ef6\u5075\u6e2c\u3001\u8a9e\u7fa9\u5206\u52723\u500b\u4efb\u52d9\u8aaa\u660e\uff0c\u662f\u9ad8\u968e\u8996\u89ba\u611f\u77e5\u4e2d\u5e38\u4f7f\u7528\u7684\u4efb\u52d9\uff0c\u63a5\u4e0b\u4f86\u6211\u5011\u5c07\u628a\u76ee\u6a19\u653e\u5728\u672c\u7bc7\u6587\u7ae0\u7684\u91cd\u9ede &#8211; <strong>\u7269\u4ef6\u5075\u6e2c<\/strong>\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u7269\u4ef6\u5075\u6e2c\u7684\u63a2\u8a0e<\/h2>\n\n\n\n<p>\u5728\u9019\u88e1\u6211\u5011\u99ac\u4e0a\u9047\u5230\u7b2c\u4e00\u500b\u554f\u984c: \u8981\u5982\u4f55\u8a55\u4f30\u7269\u4ef6\u5075\u6e2c\u7684\u6548\u80fd\u5462?<\/p>\n\n\n\n<p>\u82e5\u662f\u5728\u5f71\u50cf\u5206\u985e\u4e2d\uff0c\u8a55\u4f30\u6548\u80fd\u7684\u65b9\u5f0f\u76f8\u7576\u7c21\u55ae\uff1a\u8fa8\u8b58\u7684\u6e96\u78ba\u5ea6(Accuracy)\u8d8a\u9ad8\uff0c\u6548\u80fd\u5c31\u8d8a\u597d\u3002\u6e96\u78ba\u7387\u7684\u610f\u601d\u662f\u5728\u4e0b\u5217\u6240\u6709\u5716\u7247\u4e2d\uff0c\u80fd\u5920\u6b63\u78ba\u7684\u8fa8\u8b58\u51faDuckiebot \u5716\u7247\u985e\u5225\u7684\u6bd4\u7387\uff0c\u5316\u4f5c\u516c\u5f0f\u5373\u70ba\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-1.png\" alt=\"\" class=\"wp-image-11379\" width=\"266\" height=\"59\"\/><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/KBpbq88fn-XvAOGB4TBpill7hko2e7gDfg2lZLXsg5qEKnh9ZuX_OwYlCHfc9bZmre2fSLcpDgSVM0jkHGOyA593Qol_qbvkAIQsS7mDvLMKN52J5yBUOjbhxxd0WzNO_x8dKmoK\" alt=\"\"\/><figcaption>\u6e96\u78ba\u7387\u8a08\u7b97\u7bc4\u4f8b<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u7136\u800c\u7269\u4ef6\u5075\u6e2c\u4e26\u4e0d\u80fd\u9019\u9ebc\u76f4\u89c0\u5730\u63a2\u8a0e\u6548\u80fd\uff0c\u56e0\u70ba\u6211\u5011\u53ef\u80fd\u6703\u6aa2\u6e2c\u5230\u4e00\u4e9b\u4e0d\u5b58\u5728\u65bc\u8fa8\u8b58\u6a21\u578b\u4e2d\u7684\u7269\u9ad4\u6216\u662f\u907a\u5931\u4e00\u4e9b\u61c9\u8a72\u8fa8\u8b58\u51fa\u7684\u7269\u9ad4\u3002\u70ba\u4e86\u63a2\u8a0e\u7269\u4ef6\u5075\u6e2c\u7684\u6548\u80fd\uff0c\u6211\u5011\u9700\u8981\u4e86\u89e3\u4e0b\u5217\u7684\u57fa\u790e\u77e5\u8b58\uff1a<\/p>\n\n\n\n<ul><li>\u6df7\u6dc6\u77e9\u9663(confusion matrix)<\/li><li>\u7cbe\u78ba\u5ea6(percision)<\/li><li>\u53ec\u56de\u7387(recall)<\/li><li>\u5e73\u5747\u6b63\u78ba\u7387<\/li><li>mean Average Precision<\/li><li>Intersection Over Union<\/li><\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u6df7\u6dc6\u77e9\u9663(confusion matrix)<\/h3>\n\n\n\n<p>\u6df7\u6dc6\u77e9\u9663\u662f\u6a5f\u5668\u5b78\u7fd2\u4e2d\uff0c\u7528\u4f86\u8a55\u4f30\u6a21\u578b\u597d\u58de\u7684\u65b9\u6cd5\u4e4b\u4e00\u3002\u5047\u8a2d\u73fe\u5728\u6211\u5011\u6709\u4e00\u500b\u6a21\u578b\uff0c\u9700\u8981\u7528\u4f86\u5224\u65b7\u5716\u7247\u4e2d\u7684\u7269\u9ad4\uff0c\u662f\u5426\u70ba\u4e00\u96bb\u5c0f\u9d28\uff0c\u5247\u53ef\u80fd\u6703\u6709\u4e0b\u5217\u56db\u7a2e\u60c5\u6cc1 :&nbsp;<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-4.png\" alt=\"\" class=\"wp-image-11393\" width=\"518\" height=\"730\"\/><figcaption> \u5c0f\u9d28\u8207Duckiebot \u5716<\/figcaption><\/figure><\/div>\n\n\n\n<ul><li>True Positives(TP) &nbsp; : \u5716\u7247\u4e2d\u7684\u7269\u9ad4\u70ba\u5c0f\u9d28\uff0c\u6a21\u578b\u9810\u6e2c\u4e5f\u662f\u5c0f\u9d28<\/li><li>True Negative(TN)&nbsp; : \u5716\u7247\u4e2d\u7684\u7269\u9ad4\u4e0d\u662f\u5c0f\u9d28\uff0c\u6a21\u578b\u9810\u6e2c\u4e5f\u4e0d\u662f\u5c0f\u9d28<\/li><li>False Positives(FP)&nbsp; : \u5716\u7247\u4e2d\u7684\u7269\u9ad4\u4e0d\u662f\u5c0f\u9d28\uff0c\u6a21\u578b\u9810\u6e2c\u537b\u662f\u5c0f\u9d28<\/li><li>Fasle Negative(FN) : \u5716\u7247\u4e2d\u7684\u7269\u9ad4\u662f\u5c0f\u9d28\uff0c\u6a21\u578b\u9810\u6e2c\u537b\u4e0d\u662f\u5c0f\u9d28<\/li><\/ul>\n\n\n\n<p>\u9019\u56db\u7a2e\u60c5\u6cc1\u5982\u679c\u4f7f\u7528\u8868\u683c\u4f86\u8868\u793a\u7684\u8a71\uff0c\u4fbf\u6703\u662f&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-table aligncenter is-style-stripes\"><table class=\"\"><tbody><tr><td><br><\/td><td><strong>\u6a21\u578b\u9810\u6e2c\u662f\u5c0f\u9d28(Positives)<\/strong><\/td><td><strong>\u6a21\u578b\u9810\u6e2c\u4e0d\u662f\u5c0f\u9d28(Negative)<\/strong><\/td><\/tr><tr><td>\u7d66\u4e88\u7684\u5716\u7247\u662f\u5c0f\u9d28<\/td><td>True Positives(TP)<\/td><td>Fasle Negative(FN)<\/td><\/tr><tr><td>\u7d66\u4e88\u7684\u5716\u7247\u4e0d\u662f\u5c0f\u9d28<\/td><td>False Positives(FP)<\/td><td>True Negative(TN)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u900f\u904e\u8868\u683c\u6211\u5011\u4fbf\u53ef\u4ee5\u77e5\u9053\u6df7\u6dc6\u77e9\u9663\u6240\u4ee3\u8868\u7684\u610f\u7fa9\uff1a<\/p>\n\n\n\n<ul><li>\u6a21\u578b\u9810\u6e2c\u7684\u7d50\u679c\u662f\u6b63\u76f8\u95dc\u3001\u6b63\u9762\u80af\u5b9a\u8a9e\u53e5\u7684\uff0c\u5373\u53ef\u4ee5\u300cPositives\u300d\u8868\u793a\uff0c\u53cd\u4e4b\u5247\u4ee5 \u300cNegative\u300d\u8868\u793a\u3002<\/li><li>\u82e5\u6a21\u578b\u9810\u6e2c\u7684\u7d50\u679c\uff0c\u8207\u771f\u5be6\u60c5\u6cc1\u76f8\u540c\uff0c\u5247\u53ef\u4ee5 \u300cTrue\u300d\u8868\u793a\uff0c\u53cd\u4e4b\u5247\u4ee5\u300cFalse\u300d\u8868\u793a\u3002<\/li><\/ul>\n\n\n\n<p>\u7576\u6709\u4e86\u6df7\u6dc6\u77e9\u9663\u4e4b\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4f7f\u7528\u7cbe\u78ba\u5ea6(percision)\u8207\u53ec\u56de\u7387(recall)\uff0c\u4f86\u9032\u4e00\u6b65\u8a55\u4f30\u7269\u4ef6\u5075\u6e2c\u7684\u6548\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u7cbe\u78ba\u5ea6(percision)<\/h3>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/-9TJGxJ79PxXGyEzzv9AOWc72CMr11g7aVlgEut5NUBwrG6T1vkIOSpPRYR7GddQndjTWg0o4rWFvCatTqQj6dkKWRgLP9-2gUya8-eWhqa3vsJ5__oWR-gvDtIxgtl-61hC7dhj\" alt=\"\" width=\"444\" height=\"591\"\/><\/figure><\/div>\n\n\n\n<p>\u6211\u5011\u4f86\u770b\u4e00\u4e0b\u4e0a\u5716\u4e2d\u8fa8\u8b58\u51fa\u300cduckie\u300d\u7684\u6a19\u7c64\u3002\u7cbe\u78ba\u5ea6\u7684\u8a08\u7b97\u516c\u5f0f\u5982\u4e0b:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-12.png\" alt=\"\" class=\"wp-image-11443\" width=\"860\" height=\"110\"\/><\/figure><\/div>\n\n\n\n<p>\u7531\u4e0a\u8ff0\u7684\u516c\u5f0f\u53ef\u4ee5\u77e5\u9053\u7cbe\u78ba\u5ea6\u6307\u7684\u662f<strong>\u5728\u88ab\u908a\u754c\u6846\u6846\u8d77\u7269\u9ad4\u7684\u57fa\u6e96\u4e0a\uff0c\u7d66\u5b9a\u6b63\u78ba\u6a19\u7c64\u7684\u6bd4\u4f8b<\/strong>\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u53ec\u56de\u7387(recall)<\/h3>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/aaSubNAa6b2KN3rrcKrUhbn9zwo2zkEbq__dJawHyJTlDtaZFhaIvJsHt1UjsTx0p0P160aGRK3wA-q1Ntyg4JHSKAp--muREa3UflN4GfrHKNp1_GZm0dmeWO8q8KFpoKipyWpM\" alt=\"\" width=\"418\" height=\"557\"\/><\/figure><\/div>\n\n\n\n<p>\u63a5\u8457\u6211\u5011\u4f86\u770b\u5982\u4f55\u8a08\u7b97\u4e0a\u5716\u4e2d\u7684\u53ec\u56de\u7387:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-11.png\" alt=\"\" class=\"wp-image-11442\" width=\"785\" height=\"117\"\/><\/figure><\/div>\n\n\n\n<p>\u8207\u7cbe\u78ba\u5ea6\u4e0d\u540c\u7684\u5730\u65b9\u5728\u65bc\uff0c\u53ec\u56de\u7387\u9084\u9700\u8981\u8003\u616e\u5230\u672a\u88ab\u908a\u754c\u6846\u6846\u8d77\u4e26\u6a19\u793a\u7684\u6b32\u8fa8\u8b58\u7269\u9ad4(\u7d05\u6846\u8655)\u3002\u56e0\u6b64\u5728\u8a08\u7b97\u4e0a\uff0c\u9700\u8981\u5c07\u756b\u9762\u4e2d\u6240\u6709\u7684\u6b32\u8fa8\u8b58\u7269\u9ad4\u4e5f\u8003\u616e\u5728\u5167\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u5e73\u5747\u6b63\u78ba\u7387(average precision)<\/h3>\n\n\n\n<p>\u5728\u8a08\u7b97\u51fa\u7cbe\u78ba\u5ea6\u8207\u53ec\u56de\u7387\u5f8c\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u60f3\u76e1\u8fa6\u6cd5\uff0c\u8b93\u7cbe\u78ba\u5ea6\u8207\u53ec\u56de\u7387\u7686\u70ba 1 \uff0c\u4ee3\u8868\u7269\u4ef6\u5075\u6e2c\u7684\u6548\u80fd\u662f\u6700\u4f73\u7684\u72c0\u614b\u3002\u901a\u5e38\u6211\u5011\u53ef\u4ee5\u4f7f\u7528\u4e00\u4e9b\u53c3\u6578\u4f86\u6539\u8b8a\u7cbe\u78ba\u5ea6\u8207\u53ec\u56de\u7387\uff0c\u50cf\u662f\u8abf\u6574\u4fe1\u5fc3\u95a5\u503c(confidence threshold)\uff0c\u8b93\u7269\u4ef6\u5075\u6e2c\u53ef\u4ee5\u627e\u51fa\u66f4\u591a\u5728\u756b\u9762\u4e0a\u7684\u7269\u9ad4\u4ee5\u4fbf\u63d0\u9ad8\u53ec\u56de\u7387\uff0c\u4f46\u540c\u6642\u4e5f\u6703\u6709\u964d\u4f4e\u7cbe\u78ba\u5ea6\u7684\u53ef\u80fd\u6027\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-6.png\" alt=\"\" class=\"wp-image-11401\" width=\"446\" height=\"439\"\/><figcaption>Percision Recall <\/figcaption><\/figure><\/div>\n\n\n\n<p>\u900f\u904e\u8abf\u6574\u4fe1\u5fc3\u95a5\u503c\uff0c\u6211\u5011\u5c07\u53ef\u4ee5\u5f97\u5230\u7cbe\u78ba\u5ea6\u8207\u53ec\u56de\u7387\u7684\u95dc\u4fc2\u5f0f Percision Recall\uff0c\u6216\u7a31\u70ba PR\u66f2\u7dda(PR curve)\uff0c\u5982\u4e0a\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<p>PR\u66f2\u7dda\u5728\u521d\u59cb\u6642\u6703\u5f9e\u5de6\u4e0a\u908a\u958b\u59cb\uff0c\u7576\u7269\u4ef6\u5075\u6e2c\u5728\u5716\u50cf\u4e2d\uff0c\u4efb\u4f55\u7269\u9ad4\u90fd\u6c92\u6aa2\u6e2c\u5230\u6642\uff0c\u7cbe\u78ba\u5ea6\u70ba 1\uff1b\u7576\u6aa2\u6e2c\u5230\u6240\u6709\u7269\u9ad4\u6642 \uff0c\u53ec\u56de\u7387\u70ba 1\u3002\u56e0\u6b64\uff0c\u5728\u5075\u6e2c\u5230\u6240\u6709\u7269\u9ad4\u4e26\u4e14\u6240\u6709\u7269\u9ad4\u7686\u6a19\u793a\u6b63\u78ba\u7684\u60c5\u6cc1\u4e0b\uff0cPR\u66f2\u7dda\u4e0b\u7684\u9762\u7a4d\uff0c\u5e73\u5747\u6b63\u78ba\u7387(average precision)\uff0c\u5c07\u6703\u662f\u6700\u5927\u503c\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-13.png\" alt=\"\" class=\"wp-image-11446\" width=\"610\" height=\"92\"\/><\/figure><\/div>\n\n\n\n<p>\u7136\u800c\u5e73\u5747\u6b63\u78ba\u7387\u6211\u5011\u5f88\u96e3\u53bb\u8a08\u7b97\uff0c\u56e0\u6b64\u6211\u5011\u53ef\u4ee5\u900f\u904e\u5728\u4e00\u5b9a\u7684\u5340\u9593\u5167\uff0c\u5728\u53ec\u56de\u7387\u7684\u57fa\u6e96\u9ede\u4e0a\uff0c\u7372\u5f97\u7684\u7cbe\u78ba\u5ea6\u9032\u884c\u63a1\u6a23\uff0c\u53d6\u5f97\u5e73\u5747\u503c\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/image-7.png\" alt=\"\" class=\"wp-image-11403\" width=\"569\" height=\"112\"\/><figcaption> \u5e73\u5747\u7cbe\u78ba\u5ea6(average precision) <\/figcaption><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">5. mean Average Precision ( mAP )<\/h3>\n\n\n\n<p>\u7136\u800c\u5728\u7269\u4ef6\u5075\u6e2c\u4e2d\uff0c\u6211\u5011\u5075\u6e2c\u5230\u7684\u7269\u9ad4\u4e26\u4e0d\u6703\u53ea\u6709\u4e00\u500b\u3002\u56e0\u6b64\uff0c\u6211\u5011\u9700\u8981\u5c0d\u6240\u6709\u6aa2\u6e2c\u5230\u7684\u7269\u9ad4\uff0c\u9032\u884c\u5e73\u5747\u6b63\u78ba\u7387\u7684\u8a08\u7b97\uff0c\u4e4b\u5f8c\u518d\u5c07\u6bcf\u500b\u5075\u6e2c\u7269\u9ad4\u7684\u5e73\u5747\u6b63\u78ba\u7387\u518d\u53d6\u5e73\u5747\u503c\uff0c\u9019\u5c31\u662f\u300cmean Average Precision\u300d\u4e5f\u662f\u6211\u5011\u7528\u4f86\u78ba\u8a8d\u7269\u4ef6\u5075\u6e2c\u6548\u80fd\u7684\u6307\u6a19\u4e4b\u4e00\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">6.&nbsp; Intersection Over Union<\/h3>\n\n\n\n<p>\u7269\u4ef6\u5075\u6e2c\u6548\u80fd\u7684\u53e6\u4e00\u500b\u6307\u6a19\uff0c\u662f\u908a\u754c\u6846\u6846\u5b9a\u7269\u9ad4\u7684\u6e96\u78ba\u5ea6\u3002\u70ba\u4e86\u8a55\u4f30\u9019\u4e00\u500b\u6e96\u78ba\u5ea6\uff0c\u6211\u5011\u4f7f\u7528 Intersection Over Union(\u4ee5\u4e0b\u7c21\u7a31IOU)\uff0c\u9019\u662f\u7528\u4f86\u8a08\u7b97\u9810\u6e2c\u7684\u908a\u754c\u6846\u8207\u5be6\u969b\u4e0a\u908a\u754c\u6846\u7684\u6bd4\u4f8b\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/0GlclViJI3hlSrQcRvugbZZjjeiw2bDXcSpWkiU_guFjqvtFA0FEnkYJ6GAGYf6bJAxF_FL-A4CnawLXGEDY8K0JG-nCBSXLJ4_wowCbbXjMJ6bjjGJQJoHFFx-jTooSCFeC6mTp\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u4ee5\u4e0a\u65b9\u7684\u5716\u7247\u70ba\u4f8b\u5b50\uff0c<strong><span style=\"color:#cf2e2e\" class=\"tadv-color\">\u7d05\u6846<\/span><\/strong>\u662f\u7269\u4ef6\u5075\u6e2c\u6a21\u578b\u9810\u6e2c\u7684\u908a\u754c\u6846\uff0c<span style=\"color:#00d084\" class=\"tadv-color\"><strong>\u7da0\u6846<\/strong><\/span>\u5247\u662f\u5be6\u969b\u4e0a\u7269\u9ad4\u7684\u908a\u754c\u6846\u3002IOU \u5373\u662f\u8a08\u7b97<strong><span style=\"color:#cf2e2e\" class=\"tadv-color\">\u7d05\u6846<\/span><\/strong>\u8207<strong><span style=\"color:#00d084\" class=\"tadv-color\">\u7da0\u6846<\/span><\/strong>\u7684\u4ea4\u96c6\u8655\u8207<strong><span style=\"color:#cf2e2e\" class=\"tadv-color\">\u7d05\u6846<\/span><\/strong>\u8207<strong><span style=\"color:#00d084\" class=\"tadv-color\">\u7da0\u6846<\/span><\/strong>\u7684\u806f\u96c6\u8655\u6bd4\u4f8b\u3002\u5f9e\u4e0a\u5716\u7684\u8868\u73fe\u4f86\u770b\uff0c\u7576 IOU \u8a08\u7b97\u5f8c\u7684\u6578\u503c\u70ba 1 \u6642\uff0c\u4ee3\u8868\u7269\u4ef6\u5075\u6e2c\u5c0d\u65bc\u908a\u754c\u6846\u7684\u8655\u7406\u4e0a\u662f\u5b8c\u7f8e\u7684\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u7e3d\u7d50<\/h2>\n\n\n\n<p>\u901a\u5e38\u6211\u5011\u5728\u8ac7\u8ad6\u7269\u4ef6\u5075\u6e2c\u7684\u6548\u80fd\u6642\uff0c\u6703\u4f7f\u7528\u4e0b\u5217\u7684\u8853\u8a9e\u4f5c\u70ba\u5831\u544a\uff1a<\/p>\n\n\n\n<p>\u300c<strong>\u9019\u500b\u7269\u4ef6\u5075\u6e2c\u7684\u6548\u80fd\uff0c\u5728 IOU\u7684\u95a5\u503c\u70ba 0.8 \u6642\uff0cmAP\u7684\u6578\u503c\u70ba 0.6<\/strong>\u300d<\/p>\n\n\n\n<p>\u900f\u904e\u9019\u6a23\u5b50\u7684\u8aaa\u660e\uff0c\u6211\u5011\u4fbf\u80fd\u5927\u6982\u7406\u89e3\u8a72\u7269\u4ef6\u5075\u6e2c\u5668\u7684\u6548\u80fd\u3002<\/p>\n\n\n\n<p>\u7269\u4ef6\u5075\u6e2c\u662f\u4e00\u500b\u5f88\u91cd\u8981\u7684\u8996\u89ba\u611f\u77e5\u4efb\u52d9\u4e4b\u4e00\uff0c\u4e26\u4e14\u5728\u81ea\u52d5\u99d5\u99db\u8eca\u4e0a\uff0c\u53ef\u4ee5\u8aaa\u662f\u4e00\u500b\u5fc5\u8981\u7684\u611f\u77e5\u4efb\u52d9\u3002\u4e0b\u4e00\u7bc7\u6587\u7ae0\uff0c\u6211\u5011\u5c07\u6703\u5411\u5927\u5bb6\u8aaa\u660e\u73fe\u4ee3\u7684\u7269\u4ef6\u5075\u6e2c\u7cfb\u7d71\u662f\u5982\u4f55\u904b\u4f5c\u7684\uff0c\u8acb\u5404\u4f4d\u591a\u591a\u95dc\u6ce8\u8207\u5206\u4eab\u6211\u5011\u7684\u6587\u7ae0\u5594\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u60f3\u8981\u4e86\u89e3\u66f4\u591a\u6709\u95dc Duckietown \u7cfb\u5217\u7684\u64cd\u4f5c\u6587\u7ae0\uff0c\u8acb\u53c3\u8003\u4ee5\u4e0b\u6587\u7ae0 : Duckietown \u2013 Duck [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":11808,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[101,34,238],"tags":[204,203,54,202],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11170"}],"collection":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/comments?post=11170"}],"version-history":[{"count":39,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11170\/revisions"}],"predecessor-version":[{"id":11832,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11170\/revisions\/11832"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/11808"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=11170"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=11170"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=11170"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=11170"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}