{"id":303,"date":"2025-10-18T11:00:00","date_gmt":"2025-10-18T03:00:00","guid":{"rendered":"https:\/\/smartaiunion.com\/?p=303"},"modified":"2025-10-16T14:14:56","modified_gmt":"2025-10-16T06:14:56","slug":"%e5%9f%ba%e4%ba%8e-yolo-%e7%9a%84%e4%ba%ba%e5%bd%a2%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%a8%a1%e5%9d%97%e5%8c%96%e7%9b%ae%e6%a0%87%e6%a3%80%e6%b5%8b%e7%b3%bb%e7%bb%9f","status":"publish","type":"post","link":"https:\/\/smartaiunion.com\/index.php\/2025\/10\/18\/303\/","title":{"rendered":"\u57fa\u4e8e YOLO \u7684\u4eba\u5f62\u673a\u5668\u4eba\u6a21\u5757\u5316\u76ee\u6807\u68c0\u6d4b\u7cfb\u7edf"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u6458\u8981<\/h2>\n\n\n\n<p>\u5728\u673a\u5668\u4eba\u9886\u57df\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u4ecd\u662f\u963b\u788d\u53d1\u5c55\u7684\u91cd\u8981\u74f6\u9888\uff0c\u8bb8\u591a\u4efb\u52a1\u56e0\u89c6\u89c9\u7cfb\u7edf\u6548\u7387\u4f4e\u4e0b\u800c\u53d7\u9650\u3002\u672c\u7814\u7a76\u63d0\u51fa\u4e00\u79cd\u901a\u7528\u89c6\u89c9\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u5229\u7528\u6700\u5148\u8fdb\u7684 YOLOv9 \u6846\u67b6\uff0c\u4e13\u95e8\u9488\u5bf9\u673a\u5668\u4eba\u7b49\u8ba1\u7b97\u8d44\u6e90\u53d7\u9650\u7684\u73af\u5883\u8fdb\u884c\u4f18\u5316\u3002\u6a21\u578b\u57fa\u4e8e\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u673a\u5668\u4eba\u4eba\u5f62\u673a\u5668\u4eba\u4e16\u754c\u676f\uff08Hurocup\uff09\u7684\u7279\u5b9a\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u3002\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS1\uff09\u4e2d\uff0c\u901a\u8fc7\u865a\u62df\u73af\u5883\u5b9e\u73b0\u4e86\u65b0\u7684\u89c6\u89c9\u6a21\u5757\uff0c\u786e\u4fdd\u5176\u4e0e YOLO \u7684\u517c\u5bb9\u6027\u3002\u91c7\u7528\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u548c\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u7b49\u6307\u6807\u8bc4\u4f30\u7cfb\u7edf\u6027\u80fd\uff0c\u5e76\u5728\u9759\u6001\u548c\u52a8\u6001\u573a\u666f\u4e0b\u4e0e\u73b0\u6709\u7684\u51e0\u4f55\u6846\u67b6\u8fdb\u884c\u5bf9\u6bd4\u3002\u7ed3\u679c\u8868\u660e\uff0cYOLO \u6a21\u578b\u867d\u7136\u8ba1\u7b97\u6210\u672c\u9ad8\u4e8e\u51e0\u4f55\u6a21\u578b\uff0c\u4f46\u7cbe\u5ea6\u76f8\u5f53\uff0c\u4e14\u9c81\u68d2\u6027\u66f4\u4f18\u3002<\/p>\n\n\n\n<p>\u52b3\u4f26\u68ee\u667a\u80fd\u79fb\u52a8\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4<\/p>\n\n\n\n<p>\u5173\u952e\u8bcd\uff1a\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u673a\u5668\u5b66\u4e60\u3001YOLO\u3001\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">1 \u5f15\u8a00<\/h2>\n\n\n\n<p>\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\uff0c\u57fa\u4e8e\u4eba\u5de5\u667a\u80fd\u7684\u6846\u67b6\u663e\u8457\u63d0\u5347\u4e86\u68c0\u6d4b\u901f\u5ea6\u548c\u7cbe\u5ea6\u3002\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNNs\uff09\u7b49\u4eba\u5de5\u667a\u80fd\u76ee\u6807\u68c0\u6d4b\u6280\u672f\u7684\u51fa\u73b0\uff0c\u4f7f\u5f97\u4f20\u7edf\u76ee\u6807\u68c0\u6d4b\u7b56\u7565\u9010\u6e10\u88ab\u6dd8\u6c70\u3002\u7136\u800c\uff0c\u7531\u4e8e\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u5728\u8d44\u6e90\u53d7\u9650\u7cfb\u7edf\u4e0a\u8ba1\u7b97\u6210\u672c\u8f83\u9ad8\uff0c\u5176\u5728\u673a\u5668\u4eba\u9886\u57df\u7684\u5e94\u7528\u4ecd\u53d7\u5230\u9650\u5236\u3002\u673a\u5668\u5b66\u4e60\u6846\u67b6\u901a\u5e38\u9700\u8981\u5927\u89c4\u6a21\u6570\u636e\u96c6\u548c\u9ad8\u6027\u80fd\u56fe\u5f62\u5904\u7406\u5668\uff08GPU\uff09\u624d\u80fd\u8fbe\u5230\u826f\u597d\u6027\u80fd\uff0c\u800c\u673a\u5668\u4eba\u73af\u5883\u5f80\u5f80\u5185\u5b58\u6709\u9650\uff0c\u751a\u81f3\u53ef\u80fd\u6ca1\u6709\u56fe\u5f62\u5904\u7406\u5668\u3002\u8fd1\u5e74\u6765\uff0c\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u6846\u67b6\u6027\u80fd\u53d6\u5f97\u4e86\u5927\u5e45\u63d0\u5347\uff0c\u7279\u522b\u662f\u6700\u65b0\u7684 YOLO\uff08You Only Look Once\uff09\u6a21\u578b YOLOv9\uff0c\u5728\u591a\u6570\u65b9\u9762\u7684\u6027\u80fd\u51e0\u4e4e\u8d85\u8d8a\u4e86\u5176\u4ed6\u6240\u6709\u6846\u67b6\uff08Wang \u7b49\u4eba\uff0c2024\uff09\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u8bbe\u8ba1\u5e76\u4f18\u5316\u4e86\u4e00\u79cd\u57fa\u4e8e YOLOv9 \u7684\u8f7b\u91cf\u7ea7\u901a\u7528\u89c6\u89c9\u6a21\u5757\uff0c\u4e13\u95e8\u9002\u7528\u4e8e\u4eba\u5f62\u673a\u5668\u4eba\u3002\u4e3a\u8bc4\u4f30\u8be5\u6a21\u5757\u7684\u5b9e\u7528\u6027\uff0c\u6211\u4eec\u4ee5\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u4eba\u5f62\u673a\u5668\u4eba\u4e16\u754c\u676f\uff08Hurocup\uff09\u4e3a\u5e94\u7528\u573a\u666f\u5c55\u5f00\u7814\u7a76\u3002\u8be5\u8d5b\u4e8b\u8981\u6c42\u673a\u5668\u4eba\u5b8c\u6210\u5c04\u7bad\u3001\u4e3e\u91cd\u548c\u7bee\u7403\u7b49\u5bf9\u89c6\u89c9\u8981\u6c42\u8f83\u9ad8\u7684\u4efb\u52a1\u3002\u8be5\u89c6\u89c9\u6a21\u5757\u8bbe\u8ba1\u4e3a\u4ec5\u5728\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u5e73\u53f0\u4e0a\u8fd0\u884c\uff0c\u4ee5\u9002\u5e94\u4eba\u5f62\u673a\u5668\u4eba\u5e38\u89c1\u7684\u786c\u4ef6\u9650\u5236\u3002<\/p>\n\n\n\n<p>\u672c\u7814\u7a76\u7684\u76ee\u6807\u4e3b\u8981\u6709\u4e09\u4e2a\uff1a\uff081\uff09\u8bc4\u4f30\u57fa\u4e8e YOLO \u7684\u68c0\u6d4b\u7cfb\u7edf\u5728\u4eba\u5f62\u673a\u5668\u4eba\u5178\u578b\u786c\u4ef6\u7ea6\u675f\u4e0b\u7684\u9ad8\u6548\u8fd0\u884c\u80fd\u529b\uff1b\uff082\uff09\u5c06\u5176\u6027\u80fd\u4e0e\u4f20\u7edf\u89c6\u89c9\u6280\u672f\u8fdb\u884c\u5bf9\u6bd4\uff1b\uff083\uff09\u63a2\u8ba8\u76ee\u6807\u68c0\u6d4b\u6846\u67b6\u96c6\u6210\u5230\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u5e7f\u6cdb\u610f\u4e49\u3002\u901a\u8fc7\u9a8c\u8bc1 YOLO-based \u68c0\u6d4b\u5728\u53d7\u9650\u7cfb\u7edf\u4e0a\u7684\u5b9e\u65f6\u53ef\u884c\u6027\uff0c\u672c\u7814\u7a76\u6709\u52a9\u4e8e\u7f29\u5c0f\u5c16\u7aef\u8ba1\u7b97\u673a\u89c6\u89c9\u7814\u7a76\u4e0e\u673a\u5668\u4eba\u5b9e\u9645\u5e94\u7528\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2 \u6587\u732e\u7efc\u8ff0<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">2.1 \u76ee\u6807\u68c0\u6d4b<\/h3>\n\n\n\n<p>\u8ba1\u7b97\u673a\u89c6\u89c9\u6db5\u76d6\u591a\u4e2a\u5b50\u9886\u57df\uff0c\u76ee\u6807\u68c0\u6d4b\u4f5c\u4e3a\u5173\u952e\u9886\u57df\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\uff08Arnold \u7b49\u4eba\uff0c2019\uff09\u3001\u519c\u4e1a\uff08Wang \u7b49\u4eba\uff0c2020\uff1bSalazar-Gomez \u7b49\u4eba\uff0c2021\uff1bKhan \u548c AlSuwaidan\uff0c2022\uff09\u3001\u76d1\u63a7\uff08Murugan \u7b49\u4eba\uff0c2018\uff1bAngadi \u548c Nandyal\uff0c2020\uff09\u548c\u533b\u7597\u5065\u5eb7\uff08Ahmed \u7b49\u4eba\uff0c2025\uff1bWang \u7b49\u4eba\uff0c2022a\uff09\u7b49\u5b9e\u65f6\u5e94\u7528\u4e2d\u91cd\u8981\u6027\u65e5\u76ca\u51f8\u663e\u3002\u73b0\u4ee3\u76ee\u6807\u68c0\u6d4b\u9700\u8981\u540c\u65f6\u5b8c\u6210\u76ee\u6807\u5206\u7c7b\u548c\u8fb9\u754c\u6846\u5b9a\u4f4d\u4efb\u52a1\uff0c\u8fd9\u5bf9\u9700\u8981\u5feb\u901f\u3001\u51c6\u786e\u51b3\u7b56\u7684\u7cfb\u7edf\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u65e9\u671f\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u65b9\u5411\u68af\u5ea6\u76f4\u65b9\u56fe\uff08HOG\uff09\u7b49\u57fa\u4e8e\u7279\u5f81\u7684\u6280\u672f\uff0c\u8be5\u6280\u672f\u5728\u884c\u4eba\u68c0\u6d4b\uff08Suard \u7b49\u4eba\uff0c2006\uff09\u548c\u4eba\u8138\u8bc6\u522b\uff08D\u00e9niz \u7b49\u4eba\uff0c2011\uff09\u4e2d\u8868\u73b0\u51fa\u8f83\u9ad8\u7cbe\u5ea6\u3002\u5c3a\u5ea6\u4e0d\u53d8\u7279\u5f81\u53d8\u6362\uff08SIFT\uff09\u901a\u8fc7\u5173\u952e\u70b9\u68c0\u6d4b\u6539\u8fdb\u4e86\u5339\u914d\u6548\u679c\uff08Kasiselvanathan \u7b49\u4eba\uff0c2020\uff1bMeng \u7b49\u4eba\uff0c2013\uff09\uff0c\u800c\u52a0\u901f\u7a33\u5065\u7279\u5f81\uff08SURF\uff09\u5219\u63d0\u5347\u4e86\u5b9e\u65f6\u4efb\u52a1\u7684\u6027\u80fd\uff08Li \u7b49\u4eba\uff0c2012\uff1bHe \u7b49\u4eba\uff0c2019\uff09\u3002<\/p>\n\n\n\n<p>\u6df1\u5ea6\u5b66\u4e60\u548c\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u7684\u5174\u8d77\u5f7b\u5e95\u6539\u53d8\u4e86\u76ee\u6807\u68c0\u6d4b\u9886\u57df\u3002\u4e24\u9636\u6bb5\u68c0\u6d4b\u5668\uff08\u5982 Fast R-CNN\uff09\u6ce8\u91cd\u7cbe\u5ea6\uff0c\u5728\u8def\u9762\u88c2\u7f1d\u68c0\u6d4b\uff08Xu \u7b49\u4eba\uff0c2022\uff09\u548c\u9762\u90e8\u8868\u60c5\u8bc6\u522b\uff08Li \u7b49\u4eba\uff0c2017\uff09\u4e2d\u53d6\u5f97\u4e86\u6210\u529f\u3002\u5355\u9636\u6bb5\u68c0\u6d4b\u5668\uff08\u5305\u62ec SSD \u548c YOLO \u7cfb\u5217\uff09\u5219\u4f18\u5148\u8003\u8651\u901f\u5ea6\uff0c\u975e\u5e38\u9002\u5408\u5b9e\u65f6\u5e94\u7528\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u57fa\u4e8e\u4eba\u5de5\u667a\u80fd\u7684\u89c6\u89c9\u6280\u672f\u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u624b\u672f\u673a\u5668\u4eba\uff08Ai \u7b49\u4eba\uff0c2023\uff09\u548c\u57fa\u7840\u8bbe\u65bd\u76d1\u6d4b\uff08Ward \u7b49\u4eba\uff0c2021\uff09\u7b49\u9886\u57df\uff0c\u4f46\u5728\u4eba\u5f62\u673a\u5668\u4eba\u9886\u57df\u7684\u5e94\u7528\u4ecd\u76f8\u5bf9\u6ede\u540e\u3002\u8be5\u9886\u57df\u7684\u5927\u591a\u6570\u7814\u7a76\u4fa7\u91cd\u4e8e\u4ea4\u4e92\u548c\u5b66\u4e60\uff08Kanda \u7b49\u4eba\uff0c2002\uff1bOztop \u7b49\u4eba\uff0c2004\uff1bBao \u7b49\u4eba\uff0c2023\uff1bHester \u7b49\u4eba\uff0c2010\uff09\uff0c\u800c\u975e\u76ee\u6807\u68c0\u6d4b\u3002\u672c\u6587\u65e8\u5728\u5229\u7528\u5b9e\u65f6\u76ee\u6807\u68c0\u6d4b\u7684\u6700\u65b0\u8fdb\u5c55\uff0c\u5f00\u53d1\u4e00\u79cd\u9002\u7528\u4e8e\u4eba\u5f62\u673a\u5668\u4eba\u5e73\u53f0\u7684\u7a33\u5065\u89c6\u89c9\u6a21\u5757\uff0c\u4ee5\u586b\u8865\u8fd9\u4e00\u7814\u7a76\u7a7a\u767d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2.2 YOLO\uff1a\u5b9e\u65f6\u76ee\u6807\u68c0\u6d4b\u6846\u67b6<\/h3>\n\n\n\n<p>YOLO \u6846\u67b6\u662f\u7814\u7a76\u548c\u5de5\u4e1a\u9886\u57df\u5e7f\u6cdb\u5e94\u7528\u7684\u9886\u5148\u5355\u9636\u6bb5\u76ee\u6807\u68c0\u6d4b\u5668\uff08Chen \u7b49\u4eba\uff0c2023\uff1bHussain\uff0c2023\uff09\u3002\u4f5c\u4e3a\u4e00\u79cd\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff0cYOLO \u901a\u8fc7\u5377\u79ef\u5c42\u3001\u6c60\u5316\u5c42\u548c\u5168\u8fde\u63a5\u5c42\u5904\u7406\u56fe\u50cf\uff0c\u5b9e\u73b0\u76ee\u6807\u68c0\u6d4b\u548c\u5b9a\u4f4d\uff0c\u5e76\u8f93\u51fa\u5e26\u6807\u7b7e\u7684\u8fb9\u754c\u6846\u548c\u7f6e\u4fe1\u5ea6\u5206\u6570\u3002<\/p>\n\n\n\n<p>2015 \u5e74\u63a8\u51fa\u7684 YOLOv1 \u5f00\u521b\u4e86\u5355\u9636\u6bb5\u68c0\u6d4b\u65b9\u6cd5\u7684\u5148\u6cb3\uff0c\u5b9e\u73b0\u4e86 45 \u5e27 \/ \u79d2\u7684\u68c0\u6d4b\u901f\u5ea6\u548c 63.4% \u7684\u5e73\u5747\u7cbe\u5ea6\uff08AP\uff09\uff08Redmon \u7b49\u4eba\uff0c2016\uff09\u3002\u540e\u7eed\u7684 YOLOv2 \u8fdb\u884c\u4e86\u91cd\u5927\u6539\u8fdb\uff0c\u5e73\u5747\u7cbe\u5ea6\u8fbe\u5230 78.6%\uff0c\u901f\u5ea6\u4e3a 40 \u5e27 \/ \u79d2\uff08Redmon \u548c Farhadi\uff0c2016\uff09\uff0c2018 \u5e74\u63a8\u51fa\u7684 YOLOv3 \u8fdb\u4e00\u6b65\u4f18\u5316\u4e86\u6a21\u578b\u6027\u80fd\uff08Redmon \u548c Farhadi\uff0c2018\uff09\u3002<\/p>\n\n\n\n<p>2020 \u5e74\u7684 YOLOv4 \u5f15\u5165\u4e86\u9a6c\u8d5b\u514b\u589e\u5f3a\u548c\u4e22\u5f03\u5757\u6b63\u5219\u5316\u7b49\u5173\u952e\u6280\u672f\uff08Bochkovskiy \u7b49\u4eba\uff0c2020\uff09\u3002\u5305\u62ec YOLOv5 \u548c YOLOv6 \u5728\u5185\u7684\u540e\u7eed\u7248\u672c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u6027\u80fd\uff0c\u5176\u4e2d YOLOv6 \u7684\u5e73\u5747\u7cbe\u5ea6\u8fbe\u5230 35.9%\uff0c\u901f\u5ea6\u9ad8\u8fbe 1234 \u5e27 \/ \u79d2\uff08Li \u7b49\u4eba\uff0c2022\uff09\u3002YOLOv7 \u5219\u5728\u901f\u5ea6\u548c\u7cbe\u5ea6\u4e0a\u5747\u6709\u63d0\u5347\uff08Wang \u7b49\u4eba\uff0c2022b\uff09\u3002<\/p>\n\n\n\n<p>\u6700\u65b0\u7248\u672c YOLOv9 \u5f15\u5165\u4e86\u53ef\u7f16\u7a0b\u68af\u5ea6\u4fe1\u606f\u548c GELAN \u67b6\u6784\uff0c\u5c06\u8be5\u6846\u67b6\u7684\u6027\u80fd\u63d0\u5347\u5230\u4e86\u65b0\u9ad8\u5ea6\u3002\u5c3d\u7ba1 YOLOv9 \u5df2\u5728\u591a\u4e2a\u9886\u57df\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\uff0c\u4f46\u5c1a\u672a\u5728\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u5b9e\u73b0\u90e8\u7f72\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2.3 \u673a\u5668\u4eba\u5e94\u7528\u4e0e\u89c6\u89c9\u6a21\u5757<\/h3>\n\n\n\n<p>\u89c6\u89c9\u6a21\u5757\u662f\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\uff0c\u4f5c\u4e3a\u611f\u5b98\u8f93\u5165\u548c\u51b3\u7b56\u4e4b\u95f4\u7684\u63a5\u53e3\uff0c\u5176\u4e3b\u8981\u529f\u80fd\u662f\u89e3\u6790\u89c6\u89c9\u6570\u636e\uff0c\u4ee5\u652f\u6301\u5bfc\u822a\u548c\u76ee\u6807\u68c0\u6d4b\u7b49\u4efb\u52a1\u3002\u65e9\u671f\u7cfb\u7edf\u4f9d\u8d56\u4e8e\u5206\u5272\u3001\u8fb9\u7f18\u68c0\u6d4b\u548c\u6a21\u677f\u5339\u914d\u7b49\u4f20\u7edf\u6280\u672f\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\u867d\u6709\u6548\uff0c\u4f46\u5728\u771f\u5b9e\u4e16\u754c\u7684\u53d8\u5f02\u6027\u548c\u566a\u58f0\u73af\u5883\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u4eba\u5de5\u667a\u80fd\u7684\u6700\u65b0\u8fdb\u5c55\u6781\u5927\u5730\u63d0\u9ad8\u4e86\u89c6\u89c9\u6a21\u5757\u7684\u9002\u5e94\u6027\u548c\u51c6\u786e\u6027\uff0c\u56e0\u6b64\u8be5\u9886\u57df\u7684\u7814\u7a76\u5bf9\u73b0\u4ee3\u673a\u5668\u4eba\u6280\u672f\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u989c\u8272\u5206\u5272\u548c\u6a21\u677f\u5339\u914d\u7b49\u7ecf\u5178\u65b9\u6cd5\u66fe\u662f\u673a\u5668\u4eba\u89c6\u89c9\u7684\u6807\u51c6\u6280\u672f\uff08Al-Jarrah \u7b49\u4eba\uff0c2018\uff1bHurtado \u548c Valada\uff0c2022\uff09\u3002\u8fd9\u4e9b\u65b9\u6cd5\u901f\u5ea6\u5feb\u4e14\u6240\u9700\u5904\u7406\u80fd\u529b\u4f4e\uff0c\u4f46\u9c81\u68d2\u6027\u4e0d\u8db3\u3002\u5149\u7167\u53d8\u5316\u3001\u80cc\u666f\u6742\u4e71\u548c\u76ee\u6807\u76f8\u4f3c\u6027\u7b49\u56e0\u7d20\u5bb9\u6613\u5bfc\u81f4\u7cfb\u7edf\u68c0\u6d4b\u5931\u8d25\uff0c\u5f71\u54cd\u6027\u80fd\u3002\u4f8b\u5982\uff0c\u989c\u8272\u76f8\u4f3c\u7684\u7269\u4f53\u6216\u53cd\u5149\u8868\u9762\u53ef\u80fd\u5f15\u53d1\u68c0\u6d4b\u9519\u8bef\u3002<\/p>\n\n\n\n<p>\u6df1\u5ea6\u5b66\u4e60\u7684\u51fa\u73b0\u5f7b\u5e95\u6539\u53d8\u4e86\u673a\u5668\u4eba\u89c6\u89c9\u9886\u57df\u3002\u57fa\u4e8e\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u7684\u6846\u67b6\uff08\u5982 YOLO\u3001Faster R-CNN \u548c SSD\uff08\u5355\u9636\u6bb5\u68c0\u6d4b\u5668\uff09\uff09\u80fd\u591f\u5728\u590d\u6742\u573a\u666f\u4e2d\u5b9e\u73b0\u66f4\u7cbe\u786e\u7684\u68c0\u6d4b\uff08Redmon \u7b49\u4eba\uff0c2016\uff1bLiu \u7b49\u4eba\uff0c2016\uff1bRen \u7b49\u4eba\uff0c2016\uff09\u3002\u8fd9\u4e9b\u6a21\u578b\u901a\u8fc7\u5927\u89c4\u6a21\u6570\u636e\u96c6\u8bad\u7ec3\uff0c\u6cdb\u5316\u80fd\u529b\u8fdc\u4f18\u4e8e\u4f20\u7edf\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u5c06\u5176\u5e94\u7528\u4e8e\u673a\u5668\u4eba\u7cfb\u7edf\u4e5f\u5e26\u6765\u4e86\u65b0\u7684\u6311\u6218\u3002\u5927\u591a\u6570\u673a\u5668\u4eba\u7f3a\u4e4f\u56fe\u5f62\u5904\u7406\u5668\uff0c\u4f7f\u5f97\u4e2d\u592e\u5904\u7406\u5668\u5b9e\u65f6\u63a8\u7406\u96be\u4ee5\u5b9e\u73b0\u3002\u6b64\u5916\uff0c\u6784\u5efa\u5927\u578b\u591a\u6837\u5316\u7684\u8bad\u7ec3\u6570\u636e\u96c6\u65e2\u8017\u65f6\u53c8\u8017\u8d39\u8d44\u6e90\uff0c\u5149\u7167\u53d8\u5316\u3001\u906e\u6321\u548c\u6742\u4e71\u7b49\u56e0\u7d20\u4ecd\u7136\u662f\u4e9f\u5f85\u89e3\u51b3\u7684\u95ee\u9898\uff08Kasiselvanathan \u7b49\u4eba\uff0c2020\uff09\u3002\u56e0\u6b64\uff0c\u4e3a\u4eba\u5f62\u673a\u5668\u4eba\u8bbe\u8ba1\u89c6\u89c9\u6a21\u5757\u9700\u8981\u4ed4\u7ec6\u5e73\u8861\u7cbe\u5ea6\u3001\u901f\u5ea6\u548c\u786c\u4ef6\u7ea6\u675f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2.4 \u7814\u7a76\u7a7a\u767d<\/h3>\n\n\n\n<p>\u672c\u7814\u7a76\u65e8\u5728\u586b\u8865\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u57fa\u4e8e YOLO \u7684\u6846\u67b6\u548c\u673a\u5668\u4eba\u89c6\u89c9\u4ea4\u53c9\u9886\u57df\u7684\u5173\u952e\u7a7a\u767d\u3002\u5c3d\u7ba1 YOLO \u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u548c\u76d1\u63a7\u7b49\u4efb\u52a1\uff0c\u4f46\u5176\u5728\u4eba\u5f62\u673a\u5668\u4eba\u4e2d\u7684\u5e94\u7528\u4ecd\u975e\u5e38\u6709\u9650\u3002\u76ee\u524d\u7684\u89c6\u89c9\u6a21\u5757\u5b9e\u73b0\u4e3b\u8981\u4f9d\u8d56\u4e8e\u7279\u5b9a\u4efb\u52a1\u914d\u7f6e\u548c\u4f20\u7edf\u6280\u672f\uff0c\u8fd9\u4f7f\u5f97\u5b83\u4eec\u5728\u9700\u8981\u901a\u7528\u65b9\u6cd5\u7684\u4efb\u52a1\u4e2d\uff0c\u6216\u5728\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u6bd4\u8d5b\u7b49\u4e0d\u53ef\u9884\u6d4b\u7684\u73af\u5883\u4e2d\u96be\u4ee5\u53d1\u6325\u4f5c\u7528\u3002\u672c\u6587\u5229\u7528 YOLO \u5f00\u53d1\u4e86\u4e00\u79cd\u901a\u7528\u89c6\u89c9\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u5e73\u8861\u4e86\u6548\u7387\u548c\u7cbe\u5ea6\uff0c\u53ef\u90e8\u7f72\u5728\u8d44\u6e90\u53d7\u9650\u7684\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u3002\u901a\u8fc7\u89e3\u51b3\u8ba1\u7b97\u7ea6\u675f\u548c\u4eba\u5f62\u673a\u5668\u4eba\u7f3a\u4e4f\u901a\u7528\u89c6\u89c9\u89e3\u51b3\u65b9\u6848\u7684\u53cc\u91cd\u6311\u6218\uff0c\u672c\u7814\u7a76\u5c06\u4e3a\u8be5\u9886\u57df\u505a\u51fa\u8d21\u732e\u3002\u501f\u52a9\u5404\u79cd\u4f18\u5316\u5de5\u5177\u5e76\u5145\u5206\u5229\u7528\u6027\u80fd\u6539\u8fdb\uff0cYOLO \u6846\u67b6\u6709\u671b\u6700\u7ec8\u5e94\u7528\u4e8e\u4eba\u5f62\u673a\u5668\u4eba\u9886\u57df\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">3 \u7814\u7a76\u65b9\u6cd5<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">3.1 \u786c\u4ef6\u914d\u7f6e<\/h3>\n\n\n\n<p>\u672c\u7814\u7a76\u4f7f\u7528\u7684\u4eba\u5f62\u673a\u5668\u4eba\u662f ROBOTIS-OP3\uff08\u89c1\u56fe 1\uff09\uff0c\u8be5\u673a\u5668\u4eba\u9ad8 51 \u5398\u7c73\uff0c\u91cd 3.5 \u5343\u514b\uff0c\u914d\u5907 20 \u4e2a XM430-W350-R \u6267\u884c\u5668\u548c\u4e00\u4e2a\u7f57\u6280 C920 \u9ad8\u6e05\u4e13\u4e1a\u7f51\u7edc\u6444\u50cf\u5934\u3002\u673a\u5668\u4eba\u7531 11.1 \u4f0f 1800 \u6beb\u5b89\u65f6\u9502\u805a\u5408\u7269\u7535\u6c60\u4f9b\u7535\u6216\u901a\u8fc7\u76f4\u63a5\u7535\u7f06\u8fde\u63a5\u4f9b\u7535\u3002\u7ecf\u8fc7\u8f7b\u5fae\u6539\u88c5\uff0c\u5b89\u88c5\u4e86 3D \u6253\u5370\u7684\u5851\u6599\u624b\u548c\u811a\u3002OP3 \u8fd0\u884c\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS1\uff09Kinetic \u7248\u672c\uff0c\u80fd\u591f\u5b9e\u73b0\u4e0e\u786c\u4ef6\u7684\u987a\u7545\u4ea4\u4e92\uff0c\u5176\u8ba1\u7b97\u6548\u7387\u548c\u5b9e\u65f6\u5904\u7406\u80fd\u529b\u4f7f\u5176\u9002\u5408\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002\u672c\u5730\u56fe\u50cf\u5904\u7406\u51cf\u5c11\u4e86\u5ef6\u8fdf\uff0c\u540c\u65f6\u5176\u6a21\u5757\u5316\u67b6\u6784\u5141\u8bb8\u5728\u9700\u8981\u65f6\u8f7b\u677e\u8fc7\u6e21\u5230\u5916\u90e8\u8ba1\u7b97\u3002\u53ef\u901a\u8fc7\u865a\u62df\u7f51\u7edc\u8ba1\u7b97\uff08VNC\uff09\u5ba2\u6237\u7aef\u6216\u4ee5\u592a\u7f51\u7535\u7f06\u8fdb\u884c\u8fde\u63a5\u3002<\/p>\n\n\n\n<p>\u56fe 1\uff1a\u52b3\u4f26\u68ee\u667a\u80fd\u79fb\u52a8\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\uff08LIMRL\uff09\u7684\u4e24\u53f0\u4eba\u5f62\u673a\u5668\u4eba\u3002\u5de6\u4fa7\u6240\u793a\u7684 ROBOTIS-OP3\uff08\u53c8\u540d\u5965\u65af\u5361\uff09\u5c06\u7528\u4e8e\u672c\u7814\u7a76\u7684\u7cfb\u7edf\u5b9e\u73b0\uff0c\u89c6\u89c9\u6a21\u5757\u4e5f\u5c06\u5b89\u88c5\u5728\u53f3\u4fa7\u6240\u793a\u7684\u5317\u6781\u661f\uff08Polaris\uff09\u673a\u5668\u4eba\u4e0a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"692\" src=\"https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/\u622a\u5c4f2025-10-16-14.13.55-1024x692.png\" alt=\"\" class=\"wp-image-304\" srcset=\"https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/\u622a\u5c4f2025-10-16-14.13.55-1024x692.png 1024w, https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/\u622a\u5c4f2025-10-16-14.13.55-300x203.png 300w, https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/\u622a\u5c4f2025-10-16-14.13.55-768x519.png 768w, https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/\u622a\u5c4f2025-10-16-14.13.55.png 1036w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">3.2 YOLOv9 \u7684\u51c6\u5907\u4e0e\u8bad\u7ec3<\/h3>\n\n\n\n<p>\u5982\u524d\u6240\u8ff0\uff0c\u672c\u9879\u76ee\u5c06 YOLO \u76ee\u6807\u68c0\u6d4b\u6846\u67b6\u96c6\u6210\u5230\u4eba\u5f62\u673a\u5668\u4eba\u4e2d\uff0c\u4ee5\u5b9e\u73b0\u5728\u786c\u4ef6\u7ea6\u675f\u4e0b\u7684\u5b9e\u65f6\u68c0\u6d4b\uff0c\u5e76\u786e\u4fdd\u89c6\u89c9\u7cfb\u7edf\u548c\u63a7\u5236\u7cfb\u7edf\u4e4b\u95f4\u7684\u5feb\u901f\u901a\u4fe1\u3002\u8be5\u8f6f\u4ef6\u6808\u7ed3\u5408\u4e86\u9884\u8bad\u7ec3\u6a21\u578b\u3001\u5f00\u6e90\u5e93\u548c\u4e2d\u95f4\u4ef6\uff0c\u4ee5\u4fdd\u6301\u7075\u6d3b\u6027\u548c\u53ef\u91cd\u590d\u6027\u3002\u8be5\u7cfb\u7edf\u57fa\u4e8e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u5b9e\u73b0\uff0c\u5229\u7528\u5176\u6a21\u5757\u5316\u8bbe\u8ba1\u548c\u4e30\u5bcc\u7684\u5e93\u652f\u6301\u3002\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u652f\u6301\u6444\u50cf\u5934\u3001YOLO \u63a8\u7406\u548c\u6267\u884c\u5668\u63a7\u5236\u7684\u65e0\u7f1d\u96c6\u6210\u3002\u5f00\u53d1\u8bed\u8a00\u91c7\u7528 Python\uff0c\u5e76\u5229\u7528 PyTorch \u548c OpenCV\uff0c\u8fd9\u4e24\u4e2a\u5de5\u5177\u5bf9\u4e8e\u57fa\u4e8e YOLO \u7684\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u9009\u62e9 YOLO \u662f\u56e0\u4e3a\u5176\u5728\u901f\u5ea6\u548c\u7cbe\u5ea6\u4e4b\u95f4\u53d6\u5f97\u4e86\u826f\u597d\u7684\u5e73\u8861\u3002\u6700\u65b0\u7248\u672c YOLOv9 \u5f15\u5165\u4e86\u53ef\u7f16\u7a0b\u68af\u5ea6\u4fe1\u606f\uff08PGI\uff09\u548c GELAN \u67b6\u6784\uff0c\u63d0\u5347\u4e86\u63a8\u7406\u901f\u5ea6\u548c\u7cbe\u5ea6\uff0c\u975e\u5e38\u9002\u5408\u673a\u5668\u4eba\u90e8\u7f72\u3002\u672c\u6587\u5c06 YOLO \u5e94\u7528\u4e8e\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u4eba\u5f62\u673a\u5668\u4eba\u4e16\u754c\u676f\uff08Hurocup\uff09\u7684\u4e09\u4e2a\u9879\u76ee\uff1a\u5c04\u7bad\u3001\u9a6c\u62c9\u677e\u548c\u7bee\u7403\u3002\u8868 1 \u5c55\u793a\u4e86\u8bad\u7ec3\u4e2d\u4f7f\u7528\u7684\u76ee\u6807\u793a\u4f8b\u3002\u5728\u5c04\u7bad\u9879\u76ee\u4e2d\uff0c\u6a21\u578b\u68c0\u6d4b\u79fb\u52a8\u76ee\u6807\u5e76\u5411\u5176\u4e2d\u5fc3\u53d1\u5c04\u7bad\u77e2\u3002\u5728\u9a6c\u62c9\u677e\u9879\u76ee\u4e2d\uff0c\u673a\u5668\u4eba\u8ddf\u968f\u4e00\u6761\u7ea2\u7ebf\uff0c\u5e76\u5bf9\u65b9\u5411\u7bad\u5934\u6807\u8bb0\uff08\u5de6\u3001\u53f3\u3001\u524d\uff09\u8fdb\u884c\u5206\u7c7b\uff0c\u8fd9\u4e9b\u7bad\u5934\u53ef\u80fd\u4f1a\u51fa\u73b0\u65cb\u8f6c\u60c5\u51b5\u3002\u5728\u7bee\u7403\u9879\u76ee\u4e2d\uff0c\u673a\u5668\u4eba\u68c0\u6d4b\u6a59\u8272\u7403\uff0c\u5c06\u5176\u62fe\u8d77\uff0c\u627e\u5230\u7ea2\u8272\u7403\u7f51\uff0c\u9760\u8fd1\u7403\u7f51\u5e76\u5728\u8db3\u591f\u8fd1\u7684\u8ddd\u79bb\u65f6\u6295\u7bee\u3002<\/p>\n\n\n\n<p>\u8868 1\uff1a\u6309\u9879\u76ee\u5206\u7c7b\u7684\u6570\u636e\u96c6\u76ee\u6807\u793a\u4f8b\u8868<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>YOLOv9 \u8bad\u7ec3\u76ee\u6807\u793a\u4f8b<\/th><th><\/th><th><\/th><\/tr><\/thead><tbody><tr><td>\u6a21\u578b\u540d\u79f0<\/td><td>\u63cf\u8ff0<\/td><td>\u56fe\u50cf<\/td><\/tr><tr><td>\u7bee\u7403<\/td><td><\/td><td><\/td><\/tr><tr><td>\u7403<\/td><td>\u513f\u7ae5\u5c3a\u5bf8\u4f7f\u7528\u4e52\u4e53\u7403\uff0c\u6210\u4eba\u5c3a\u5bf8\u4f7f\u7528\u66f4\u5927\u7684\u7f51\u7403\u3002<\/td><td><\/td><\/tr><tr><td>\u7bee\u7b50<\/td><td>\u673a\u5668\u4eba\u9700\u8981\u6295\u7bee\u5f97\u5206\u7684\u4eae\u8272\u7bee\u7403\u7b50\u3002\u513f\u7ae5\u5c3a\u5bf8\u7bee\u7b50\u76f4\u5f84\u4e3a 10 \u5398\u7c73\uff0c\u6210\u4eba\u5c3a\u5bf8\u7bee\u7b50\u76f4\u5f84\u4e3a 30 \u5398\u7c73\u3002<\/td><td>[\u65e0\u6807\u9898\u56fe\u50cf]<\/td><\/tr><tr><td>\u5c04\u7bad<\/td><td><\/td><td><\/td><\/tr><tr><td>\u76ee\u6807<\/td><td>\u76f4\u5f84\u4e3a 50 \u5398\u7c73\u7684\u5c04\u7bad\u9776\u3002<\/td><td><\/td><\/tr><tr><td>\u9a6c\u62c9\u677e<\/td><td><\/td><td><\/td><\/tr><tr><td>\u7ebf<\/td><td>\u673a\u5668\u4eba\u9700\u8981\u8ddf\u968f\u7684\u7ea2\u8272\u5f15\u5bfc\u7ebf\u3002<\/td><td>[\u65e0\u6807\u9898\u56fe\u50cf]<\/td><\/tr><tr><td>\u53f3\u7bad\u5934<\/td><td>\u7bad\u5934\u6307\u5411\u53f3\u4fa7\u7684\u6807\u8bb0\u3002<\/td><td><\/td><\/tr><tr><td>\u5de6\u7bad\u5934<\/td><td>\u7bad\u5934\u6307\u5411\u5de6\u4fa7\u7684\u6807\u8bb0\u3002<\/td><td><\/td><\/tr><tr><td>\u524d\u7bad\u5934<\/td><td>\u7bad\u5934\u6307\u5411\u6b63\u524d\u65b9\u7684\u6807\u8bb0\u3002<\/td><td><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u8bad\u7ec3\u8fc7\u7a0b\u59cb\u4e8e\u6536\u96c6\u548c\u9884\u5904\u7406\u7279\u5b9a\u4efb\u52a1\u7684\u6570\u636e\u96c6\u3002\u4e3a\u4e86\u5e73\u8861\u6027\u80fd\u548c\u6548\u7387\uff0c\u6211\u4eec\u9488\u5bf9\u6bcf\u4e2a\u4efb\u52a1\u8bad\u7ec3\u591a\u4e2a\u8f83\u5c0f\u7684\u6a21\u578b\uff0c\u800c\u4e0d\u662f\u4e00\u4e2a\u5927\u578b\u6a21\u578b\u3002\u6bcf\u4e2a\u6570\u636e\u96c6\u5bf9\u5e94\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u4eba\u5f62\u673a\u5668\u4eba\u4e16\u754c\u676f\uff08Hurocup\uff09\u7684\u7279\u5b9a\u9879\u76ee\uff0c\u4f8b\u5982\u7bee\u7403\u9879\u76ee\u7684\u7403\u548c\u7403\u7f51\uff0c\u6216\u9a6c\u62c9\u677e\u9879\u76ee\u7684\u7bad\u5934\u6807\u8bb0\uff08\u89c1\u8868 3.1\uff09\u3002\u4f7f\u7528 Roboflow \u7684 YOLOv9 \u683c\u5f0f\uff0c\u901a\u8fc7\u8fb9\u754c\u6846\u5bf9\u6570\u636e\u96c6\u8fdb\u884c\u6807\u6ce8\uff0c\u6807\u7b7e\u5305\u62ec\u7c7b\u522b ID \u548c\u6807\u51c6\u5316\u8fb9\u754c\u6846\u5750\u6807\u3002Roboflow \u8fd8\u5904\u7406\u65cb\u8f6c\u3001\u5149\u7167\u53d8\u5316\u548c\u7f29\u653e\u7b49\u6570\u636e\u589e\u5f3a\u4efb\u52a1\uff0c\u4ee5\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff08Pellegrino \u7b49\u4eba\uff0c2024\uff1bP \u7b49\u4eba\uff0c2023\uff1bGupta \u7b49\u4eba\uff0c2023\uff09\u3002<\/p>\n\n\n\n<p>\u8bad\u7ec3\u5728\u914d\u5907\u82f1\u4f1f\u8fbe\uff08Nvidia\uff09RTX 1650 \u56fe\u5f62\u5904\u7406\u5668\u7684\u8bbe\u5907\u4e0a\uff0c\u4f7f\u7528 PyTorch \u8fdb\u884c\u3002\u6a21\u578b\u8bad\u7ec3 100 \u4e2a\u5468\u671f\uff0c\u6279\u6b21\u5927\u5c0f\u4e3a 6\uff0c\u7d27\u5bc6\u9a6c\u8d5b\u514b\u9608\u503c\u4e3a 50\u3002\u4e3a\u907f\u514d\u8fc7\u62df\u5408\uff0c\u8bbe\u7f6e\u8010\u5fc3\u503c\u4e3a 5\uff0c\u5373\u5982\u679c\u4e94\u4e2a\u5468\u671f\u5185\u6ca1\u6709\u6027\u80fd\u63d0\u5347\uff0c\u5219\u505c\u6b62\u8bad\u7ec3\uff0c\u8be5\u503c\u662f\u901a\u8fc7\u5148\u524d\u7684\u5b9e\u9a8c\u786e\u5b9a\u7684\u6700\u4f18\u503c\u3002\u56fe\u50cf\u4ee5 640\u00d7640 \u5206\u8fa8\u7387\u8fdb\u884c\u5904\u7406\uff0c\u8bad\u7ec3\u57fa\u4e8e\u9884\u8bad\u7ec3\u7684 MSCOCO \u6743\u91cd\u5f00\u59cb\uff08Ultralytics\uff0c2024\uff09\u3002\u91c7\u7528\u4e86\u4e09\u79cd\u67b6\u6784\uff1aYOLOv9-Tiny\u3001YOLOv9-Small \u548c YOLOv9-Medium\uff0c\u8fd9\u4e9b\u90fd\u662f\u6700\u8f7b\u91cf\u7ea7\u7684\u53d8\u4f53\u3002\u8bad\u7ec3\u901a\u8fc7\u5916\u90e8\u7b14\u8bb0\u672c\u7535\u8111\u7684\u547d\u4ee4\u884c\u6267\u884c\uff0c\u4ee5\u51cf\u5c11\u673a\u5668\u4eba\u81ea\u8eab\u7684\u8ba1\u7b97\u8d1f\u8f7d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.3 \u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u96c6\u6210<\/h3>\n\n\n\n<p>\u8be5\u89c6\u89c9\u6a21\u5757\u4e0e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u7d27\u5bc6\u96c6\u6210\uff0c\u786e\u4fdd\u6444\u50cf\u5934\u3001\u63a8\u7406\u6d41\u6c34\u7ebf\u548c OP3 \u6267\u884c\u5668\u4e4b\u95f4\u7684\u65e0\u7f1d\u901a\u4fe1\u3002\u8be5\u67b6\u6784\u7531\u4e09\u4e2a\u6838\u5fc3\u7ec4\u4ef6\u7ec4\u6210\uff1aYOLO \u8282\u70b9\u3001\u76d1\u542c\u8282\u70b9\u548c\u7279\u5b9a\u9879\u76ee\u8282\u70b9\u3002<\/p>\n\n\n\n<p>\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u91c7\u7528\u53d1\u5e03 \/ \u8ba2\u9605\u901a\u4fe1\u6a21\u578b\uff0c\u5141\u8bb8\u8282\u70b9\u901a\u8fc7\u547d\u540d\u4e3b\u9898\u5f02\u6b65\u4ea4\u6362\u6570\u636e\u3002\u8fd9\u79cd\u6a21\u5757\u5316\u65b9\u6cd5\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u7075\u6d3b\u6027\uff0c\u8282\u70b9\u53ef\u4ee5\u72ec\u7acb\u8fd0\u884c\uff0c\u540c\u65f6\u9ad8\u6548\u5730\u4ea4\u6362\u6570\u636e\u3002\u5728\u8be5\u7cfb\u7edf\u4e2d\uff0cYOLO \u8282\u70b9\u5c06\u68c0\u6d4b\u7ed3\u679c\u53d1\u5e03\u5230\u4e00\u4e2a\u4e3b\u9898\uff0c\u76d1\u542c\u8282\u70b9\u8ba2\u9605\u8be5\u4e3b\u9898\uff0c\u5bf9\u6570\u636e\u8fdb\u884c\u683c\u5f0f\u5316\u5904\u7406\uff0c\u5e76\u5c06\u5176\u8def\u7531\u5230\u76f8\u5e94\u7684\u9879\u76ee\u6a21\u5757\u3002<\/p>\n\n\n\n<p>\u7531\u4e8e\u517c\u5bb9\u6027\u95ee\u9898\uff08\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u4f9d\u8d56 Python 2.7 \u548c OpenCV 3.3.1\uff0c\u800c YOLO \u9700\u8981 Python 3\uff09\uff0cYOLO \u8282\u70b9\u5728\u914d\u5907 OpenCV 4.11 \u7684 Python 3.12 \u865a\u62df\u73af\u5883\u4e2d\u8fd0\u884c\u3002\u8fd9\u79cd\u9694\u79bb\u8bbe\u8ba1\u4f7f\u5176\u80fd\u591f\u5229\u7528 PyTorch \u7b49\u4f18\u5316\u5e93\u8fdb\u884c\u6a21\u578b\u63a8\u7406\u3002\u8be5\u8282\u70b9\u8ba2\u9605\u6444\u50cf\u5934\u89c6\u9891\u6d41\uff0c\u5c06\u89c6\u9891\u5e27\u8c03\u6574\u4e3a\u6a21\u578b\u7684\u8f93\u5165\u5c3a\u5bf8\u5e76\u8fdb\u884c\u5904\u7406\uff0c\u7136\u540e\u6267\u884c\u76ee\u6807\u68c0\u6d4b\u3002\u68c0\u6d4b\u7ed3\u679c\uff08\u8fb9\u754c\u6846\u3001\u6807\u7b7e\u548c\u7f6e\u4fe1\u5ea6\u5206\u6570\uff09\u901a\u8fc7 WebSocket \u4ee5 JSON \u683c\u5f0f\u53d1\u5e03\u3002\u76d1\u542c\u8282\u70b9\u63a5\u6536\u8fd9\u4e9b\u6570\u636e\uff0c\u5e76\u5c06\u5176\u91cd\u65b0\u53d1\u5e03\u5230\u9002\u5408\u6bcf\u4e2a\u9879\u76ee\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u4e3b\u9898\u4e0a\u3002\u4e3a\u4e86\u4f18\u5316\u6027\u80fd\uff0c\u53ef\u4ee5\u5c06\u63a8\u7406\u9891\u7387\u9650\u5236\u4e3a\u6bcf\u79d2 20 \u6b21\u68c0\u6d4b\uff0c\u800c\u4e0d\u662f\u5904\u7406\u6bcf\u5e27\u56fe\u50cf\u3002\u56fe 2 \u76f4\u89c2\u5c55\u793a\u4e86\u6240\u4f7f\u7528\u7684\u5404\u79cd\u73af\u5883\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"826\" height=\"581\" src=\"https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/pipeline.drawio.png\" alt=\"\" class=\"wp-image-305\" srcset=\"https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/pipeline.drawio.png 826w, https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/pipeline.drawio-300x211.png 300w, https:\/\/smartaiunion.com\/wp-content\/uploads\/2025\/10\/pipeline.drawio-768x540.png 768w\" sizes=\"auto, (max-width: 826px) 100vw, 826px\" \/><\/figure>\n\n\n\n<p>\u56fe 2\uff1a\u89c6\u89c9\u6a21\u578b\u5404\u79cd\u73af\u5883\u4e2d\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u8282\u70b9\u4e4b\u95f4\u7684\u4ea4\u4e92\u6d41\u7a0b\u56fe\u3002\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u6865\u63a5 WebSocket \u5bf9\u4e8e\u786e\u4fdd\u4e24\u4e2a\u73af\u5883\u4e4b\u95f4\u7684\u6b63\u5e38\u901a\u4fe1\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>YOLO \u4e0e Python 2.7 \u4e4b\u95f4\u7684\u4e0a\u8ff0\u517c\u5bb9\u6027\u95ee\u9898\uff0c\u9700\u8981\u4e00\u4e2a\u72ec\u7acb\u7684\u76d1\u542c\u8282\u70b9\u901a\u8fc7 WebSocket \u63a5\u6536\u68c0\u6d4b\u6570\u636e\uff0c\u5e76\u5c06\u5176\u91cd\u65b0\u53d1\u5e03\u5230 \/yolo\/bboxes \u4e3b\u9898\u3002\u8be5\u8282\u70b9\u4f7f\u7279\u5b9a\u9879\u76ee\u6a21\u5757\u80fd\u591f\u4ee5\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u517c\u5bb9\u7684\u683c\u5f0f\u8bbf\u95ee\u68c0\u6d4b\u7ed3\u679c\uff0c\u800c\u65e0\u9700\u4e0e YOLO \u8282\u70b9\u76f4\u63a5\u96c6\u6210\u3002\u6bcf\u4e2a\u9879\u76ee\u8282\u70b9\u8ba2\u9605 \/yolo\/detections \u4e3b\u9898\uff0c\u5e76\u5229\u7528\u8fd9\u4e9b\u6570\u636e\u8bc6\u522b\u76ee\u6807\uff0c\u542f\u52a8\u63a5\u8fd1\u6216\u8eb2\u907f\u7b49\u52a8\u4f5c\u3002\u76ee\u6807\u8ddf\u8e2a\u901a\u8fc7\u9884\u5148\u7f16\u5199\u7684 Python \u903b\u8f91\u5904\u7406\uff0c\u6267\u884c\u5668\u63a7\u5236\u901a\u8fc7 Dynamixel SDK \u7ba1\u7406\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230 OP3 \u6709\u9650\u7684\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u6027\u80fd\uff0c\u5b9e\u65f6\u63a8\u7406\u6027\u80fd\u4ecd\u7136\u662f\u4e00\u4e2a\u6311\u6218\u3002\u4e3a\u7f13\u89e3\u8fd9\u4e00\u95ee\u9898\uff0c\u8bad\u7ec3\u5728\u5916\u90e8\u8bbe\u5907\u4e0a\u8fdb\u884c\uff0c\u540c\u65f6\u901a\u8fc7\u8df3\u5e27\u548c\u5c06\u8f93\u5165\u5c3a\u5bf8\u8c03\u6574\u4e3a 640\u00d7640 \u5206\u8fa8\u7387\uff0c\u4f18\u5316\u673a\u5668\u4eba\u81ea\u8eab\u7684\u63a8\u7406\u8fc7\u7a0b\u3002\u7531\u4e8e OP3 \u7f3a\u4e4f\u56fe\u5f62\u5904\u7406\u5668\uff08GPU\uff09\uff0cYOLO \u6a21\u578b\u88ab\u8f6c\u6362\u4e3a OpenVINO \u683c\u5f0f\u4ee5\u63d0\u9ad8\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u7684\u8fd0\u884c\u6548\u7387\u3002\u8fd9\u4e00\u8fc7\u7a0b\u9996\u5148\u5c06\u6a21\u578b\u8f6c\u6362\u4e3a ONNX \u683c\u5f0f\uff0c\u901a\u8fc7\u91cf\u5316\u51cf\u5c11\u8ba1\u7b97\u8d1f\u8f7d\u3002\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u7684\u6a21\u5757\u5316\u7279\u6027\u8fdb\u4e00\u6b65\u5141\u8bb8\u8f7b\u677e\u66ff\u6362\u6216\u6269\u5c55\u5176\u4ed6\u68c0\u6d4b\u6a21\u578b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.4 \u6027\u80fd\u8bc4\u4f30<\/h3>\n\n\n\n<p>\u4e3a\u786e\u4fdd\u7cfb\u7edf\u6027\u80fd\u53ef\u9760\uff0c\u65b0\u7684\u89c6\u89c9\u6a21\u5757\u5c06\u5728\u9759\u6001\u548c\u52a8\u6001\u73af\u5883\u4e2d\u8fdb\u884c\u5168\u9762\u6d4b\u8bd5\u3002\u521d\u6b65\u8bc4\u4f30\u5c06\u5728\u53d7\u63a7\u7684\u5b9e\u9a8c\u5ba4\u73af\u5883\u4e2d\u8fdb\u884c\uff0c\u51cf\u5c11\u80cc\u666f\u5e72\u6270\u5e76\u4fdd\u6301\u5149\u7167\u7a33\u5b9a\u3002\u673a\u5668\u4eba\u5c06\u5904\u4e8e\u9759\u6b62\u72b6\u6001\uff0c\u8bc4\u4f30\u5176\u76ee\u6807\u68c0\u6d4b\u80fd\u529b\uff0c\u4ee5\u6d4b\u91cf\u53ef\u91cd\u590d\u73af\u5883\u4e2d\u7684\u5e27\u901f\u7387\u548c\u5ef6\u8fdf\u3002<\/p>\n\n\n\n<p>\u9759\u6001\u6d4b\u8bd5\u4e4b\u540e\uff0c\u5c06\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u8bc4\u4f30\u89c6\u89c9\u6a21\u5757\uff0c\u8ba9\u673a\u5668\u4eba\u5b8c\u6210\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u4eba\u5f62\u673a\u5668\u4eba\u4e16\u754c\u676f\uff08Hurocup\uff09\u7684\u4e09\u4e2a\u9879\u76ee\uff1a\u5c04\u7bad\u3001\u7bee\u7403\u548c\u9a6c\u62c9\u677e\u3002\u91c7\u7528\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u3001\u7cbe\u5ea6\u3001\u53ec\u56de\u7387\u3001\u5e73\u5747\u7cbe\u5ea6\u5747\u503c 50\uff08mAP50\uff09\u548c\u5e73\u5747\u7cbe\u5ea6\u5747\u503c 50-95\uff08mAP50-95\uff09\u7b49\u91cf\u5316\u6307\u6807\u8bc4\u4f30\u6027\u80fd\u3002\u9759\u6001\u548c\u52a8\u6001\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u6d4b\u91cf\u5c06\u6709\u52a9\u4e8e\u8bc4\u4f30\u5ef6\u8fdf\u548c\u4e00\u81f4\u6027\u3002\u901a\u8fc7\u5c06\u89c6\u89c9\u6a21\u5757\u7684\u8f93\u51fa\u4e0e\u51e0\u4f55\u65b9\u6cd5\u548c\u771f\u5b9e\u6d4b\u91cf\u7ed3\u679c\u8fdb\u884c\u6bd4\u8f83\uff0c\u6d4b\u8bd5\u8ddd\u79bb\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u3002\u8fd9\u79cd\u6bd4\u8f83\u5c06\u7a81\u51fa\u7cfb\u7edf\u7684\u7cbe\u5ea6\u53ca\u5176\u76f8\u5bf9\u4e8e\u5148\u524d\u65b9\u6cd5\u7684\u4f18\u52bf\u3002\u6269\u5c55\u6d4b\u8bd5\u5c06\u786e\u4fdd\u7cfb\u7edf\u7684\u7a33\u5065\u6027\uff0c\u5e76\u4e3a\u52a8\u6001\u6761\u4ef6\u4e0b\u68c0\u6d4b\u7cbe\u5ea6\u7684\u8fed\u4ee3\u6539\u8fdb\u63d0\u4f9b\u6307\u5bfc\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">4 \u7cfb\u7edf\u5b9e\u73b0<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">4.1 \u6a21\u578b\u90e8\u7f72<\/h3>\n\n\n\n<p>YOLO \u6a21\u578b\u7684\u90e8\u7f72\u6d89\u53ca\u6f2b\u957f\u7684\u8bad\u7ec3\u8fc7\u7a0b\uff0c\u4ece\u6570\u636e\u96c6\u51c6\u5907\u5f00\u59cb\uff0c\u6700\u7ec8\u5b9e\u73b0\u5b9e\u65f6\u63a8\u7406\u3002\u4e3a\u4e86\u5e73\u8861\u901f\u5ea6\u548c\u7cbe\u5ea6\uff0c\u6bcf\u4e2a\u7c7b\u522b\u7684\u6570\u636e\u96c6\u4e0d\u8d85\u8fc7 150 \u5f20\u56fe\u50cf\u3002\u4f7f\u7528 RoboFlow \u5bf9\u6570\u636e\u96c6\u8fdb\u884c\u624b\u52a8\u6807\u6ce8\uff0c\u5e2e\u52a9\u6a21\u578b\u805a\u7126\u4e8e\u7bee\u7403\u6216\u7bad\u5934\u6807\u8bb0\u7b49\u5173\u952e\u76ee\u6807\u3002\u91c7\u7528\u65cb\u8f6c\u3001\u526a\u5207\u3001\u66dd\u5149\u8c03\u6574\u548c\u9ad8\u65af\u6a21\u7cca\u7b49\u6570\u636e\u589e\u5f3a\u6280\u672f\uff0c\u63d0\u9ad8\u7cfb\u7edf\u7684\u6574\u4f53\u7a33\u5065\u6027\u3002<\/p>\n\n\n\n<p>\u4e3a\u5b9e\u73b0\u5b9e\u65f6\u63a8\u7406\uff0c\u901a\u8fc7 ROBOTIS-OP3 \u7684\u7f51\u7edc\u6444\u50cf\u5934\u6355\u83b7\u89c6\u9891\u6d41\u3002\u4f7f\u7528 letterbox \u8c03\u6574\u5927\u5c0f\u529f\u80fd\u5904\u7406\u6bcf\u4e2a\u6355\u83b7\u7684\u5e27\uff0c\u5728\u4fdd\u6301\u56fe\u50cf\u7eb5\u6a2a\u6bd4\u7684\u540c\u65f6\uff0c\u5c06\u5176\u8c03\u6574\u4e3a\u6240\u9700\u7684\u8f93\u5165\u5c3a\u5bf8\uff08640 \u50cf\u7d20 \u00d7640 \u50cf\u7d20\uff09\u3002\u91c7\u7528\u591a\u79cd\u6280\u672f\u4f18\u5316\u6a21\u578b\uff0c\u4ee5\u9002\u5e94\u57fa\u4e8e\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u7684\u63a8\u7406\uff0c\u5305\u62ec\u5c06\u6a21\u578b\u8f6c\u6362\u4e3a OpenVINO \u683c\u5f0f\u3002\u53ea\u6709\u5f53\u8fb9\u754c\u6846\u7684\u7f6e\u4fe1\u5ea6\u8d85\u8fc7\u9608\u503c\u65f6\u624d\u4f1a\u7ed8\u5236\uff0c\u5e76\u5e94\u7528\u975e\u6781\u5927\u503c\u6291\u5236\uff08NMS\uff09\u8fc7\u6ee4\u91cd\u53e0\u7684\u8fb9\u754c\u6846\uff0c\u4ec5\u4fdd\u7559\u6700\u51c6\u786e\u7684\u68c0\u6d4b\u7ed3\u679c\u3002\u7136\u540e\u5c06\u8fb9\u754c\u6846\u7f29\u653e\u56de\u539f\u59cb\u56fe\u50cf\u5c3a\u5bf8\uff0c\u6821\u6b63\u7f51\u7edc\u6444\u50cf\u5934\u7684\u7eb5\u6a2a\u6bd4\uff0c\u907f\u514d\u8fb9\u754c\u6846\u5931\u771f\u3002\u8fd9\u4e00\u6b65\u9aa4\u5bf9\u4e8e\u786e\u4fdd\u5728\u89c6\u9891\u6d41\u4e2d\u51c6\u786e\u663e\u793a\u68c0\u6d4b\u7ed3\u679c\u81f3\u5173\u91cd\u8981\u3002\u4f7f\u7528 OpenCV 4.11 \u5728\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u4e0a\u7ed8\u5236\u8fb9\u754c\u6846\u548c\u7c7b\u522b\u6807\u7b7e\uff0c\u5e76\u663e\u793a\u7f6e\u4fe1\u5ea6\u5206\u6570\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.2 \u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u8282\u70b9\u5f00\u53d1<\/h3>\n\n\n\n<p>\u7531\u4e8e Python \u7248\u672c\u4e0d\u517c\u5bb9\uff0cYOLO \u76ee\u6807\u68c0\u6d4b\u7cfb\u7edf\u901a\u8fc7\u4e24\u4e2a\u72ec\u7acb\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u8282\u70b9\u5b9e\u73b0\u3002\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09Kinetic \u7248\u672c\u9700\u8981 Python 2.7\uff0c\u800c YOLOv9 \u53ca\u5176\u4f9d\u8d56\u9879\uff08\u5982 PyTorch\uff09\u9700\u8981 Python 3.8 \u6216\u66f4\u9ad8\u7248\u672c\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u68c0\u6d4b\u8282\u70b9\u5728 Python 3.12 \u865a\u62df\u73af\u5883\u4e2d\u8fd0\u884c\uff0c\u4e0e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u9694\u79bb\u3002\u7b2c\u4e8c\u4e2a\u8282\u70b9\uff08\u76d1\u542c\u8282\u70b9\uff09\u5728 Python 2.7 \u73af\u5883\u4e2d\u8fd0\u884c\uff0c\u901a\u8fc7\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u6865\u63a5\u5668\uff0c\u5229\u7528 WebSocket \u63a5\u6536\u68c0\u6d4b\u7ed3\u679c\u3002\u8be5\u6865\u63a5\u5668\u5b9e\u73b0\u4e86\u4e24\u4e2a\u73af\u5883\u4e4b\u95f4\u7684\u65e0\u7f1d\u901a\u4fe1\u3002<\/p>\n\n\n\n<p>\u68c0\u6d4b\u8282\u70b9\u4f7f\u7528 PyTorch \u548c Ultralytics \u7684 YOLOv9 \u8fdb\u884c\u63a8\u7406\uff0c\u901a\u8fc7 WebSocket \u5c06\u8fb9\u754c\u6846\u6570\u636e\u4f5c\u4e3a JSON \u6d88\u606f\u53d1\u9001\u3002\u6bcf\u4e2a JSON \u6d88\u606f\u5305\u542b\u76ee\u6807\u7c7b\u522b\u3001\u5750\u6807\u3001\u5c3a\u5bf8\u548c\u7f6e\u4fe1\u5ea6\u5206\u6570\u3002\u4f7f\u7528 OpenCV 4.11 \u5728\u89c6\u9891\u6d41\u4e0a\u53e0\u52a0\u68c0\u6d4b\u7ed3\u679c\uff0c\u4ee5\u4fbf\u8fdb\u884c\u8c03\u8bd5\u3002\u8be5\u8282\u70b9\u8fd8\u5305\u62ec\u6e05\u7406\u7a0b\u5e8f\uff0c\u5728\u5173\u95ed\u65f6\u91ca\u653e\u6444\u50cf\u5934\u8d44\u6e90\u5e76\u5173\u95ed WebSocket \u8fde\u63a5\u3002<\/p>\n\n\n\n<p>\u76d1\u542c\u8282\u70b9\u63a5\u6536 JSON \u6570\u636e\uff0c\u5e76\u5c06\u5176\u91cd\u65b0\u53d1\u5e03\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u517c\u5bb9\u7684\u6d88\u606f\u3002\u8be5\u8282\u70b9\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u73af\u5883\u4e2d\u8fd0\u884c\uff0c\u786e\u4fdd\u6240\u6709\u5176\u4ed6\u7279\u5b9a\u9879\u76ee\u8282\u70b9\u80fd\u591f\u8ba2\u9605\u68c0\u6d4b\u8f93\u51fa\uff0c\u800c\u65e0\u9700\u76f4\u63a5\u4e0e YOLO \u4ea4\u4e92\u3002\u8be5\u8282\u70b9\u5c06\u4f20\u5165\u7684\u6570\u636e\u8bb0\u5f55\u5230 rospy \u4e2d\u4ee5\u4fbf\u8c03\u8bd5\uff0c\u5e76\u5305\u542b\u5bf9\u683c\u5f0f\u9519\u8bef\u6d88\u606f\u6216\u8fde\u63a5\u5931\u8d25\u7684\u9519\u8bef\u5904\u7406\u529f\u80fd\u3002\u7ba1\u7406 WebSocket \u751f\u547d\u5468\u671f\u4e8b\u4ef6\uff0c\u652f\u6301\u91cd\u65b0\u8fde\u63a5\u548c\u8bca\u65ad\u65e5\u5fd7\u8bb0\u5f55\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u53cc\u8282\u70b9\u67b6\u6784\u786e\u4fdd\u53ef\u4ee5\u4f7f\u7528\u73b0\u4ee3\u6df1\u5ea6\u5b66\u4e60\u5de5\u5177\uff0c\u800c\u4e0d\u4f1a\u5f71\u54cd\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u7684\u517c\u5bb9\u6027\u3002\u6a21\u5757\u5316\u8bbe\u8ba1\u63d0\u9ad8\u4e86\u53ef\u7ef4\u62a4\u6027\u548c\u53ef\u6269\u5c55\u6027\uff0c\u5141\u8bb8\u5728\u4e0d\u6539\u53d8\u6838\u5fc3\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u63a7\u5236\u7ed3\u6784\u7684\u60c5\u51b5\u4e0b\uff0c\u5bf9\u68c0\u6d4b\u6d41\u6c34\u7ebf\u8fdb\u884c\u672a\u6765\u5347\u7ea7\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.3 \u6d41\u6c34\u7ebf\u4e0e\u884c\u4e3a\u96c6\u6210<\/h3>\n\n\n\n<p>\u65b0\u7684\u89c6\u89c9\u6a21\u5757\u901a\u8fc7\u57fa\u4e8e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u67b6\u6784\u7684\u7ed3\u6784\u5316\u6d41\u6c34\u7ebf\uff0c\u96c6\u6210\u5230\u673a\u5668\u4eba\u6846\u67b6\u4e2d\u3002\u8be5\u8bbe\u7f6e\u652f\u6301\u89c6\u89c9\u7cfb\u7edf\u548c\u884c\u4e3a\u6a21\u5757\u4e4b\u95f4\u7684\u9ad8\u6548\u6570\u636e\u4ea4\u6362\uff0c\u7279\u522b\u662f\u5728\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u9879\u76ee\u4e2d\uff0c\u5141\u8bb8\u5b9e\u65f6\u76ee\u6807\u68c0\u6d4b\u9a71\u52a8\u673a\u5668\u4eba\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u7684\u5b9e\u73b0\u6311\u6218\u6e90\u4e8e YOLO \u5bf9 Python 3 \u7684\u8981\u6c42\u4e0e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09Kinetic \u7248\u672c\u5bf9 Python 2.7 \u7684\u4f9d\u8d56\u4e4b\u95f4\u7684\u51b2\u7a81\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u521b\u5efa\u4e86\u4e00\u4e2a WebSocket \u6865\u63a5\u5668\uff0c\u8fde\u63a5\u8fd0\u884c YOLO \u8282\u70b9\u7684 Python 3.12 \u865a\u62df\u73af\u5883\u548c\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u7cfb\u7edf\u3002\u521d\u59cb\u8bbe\u7f6e\u4e2d\u51fa\u73b0\u7684\u95ee\u9898\uff08\u5982\u865a\u62df\u73af\u5883\u9ed8\u8ba4\u4f7f\u7528 OpenCV 3.3.1 \u548c PIP \u7b49 Python 2.7 \u5e93\uff09\uff0c\u901a\u8fc7\u4f7f\u7528 &#8211;no-site-packages \u6807\u5fd7\u91cd\u6784\u73af\u5883\u5f97\u4ee5\u89e3\u51b3\u3002\u8fd9\u4f7f\u5f97\u9694\u79bb\u7684\u89c6\u89c9\u8282\u70b9\u80fd\u591f\u4e0e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u7cfb\u7edf\u901a\u4fe1\uff0c\u800c\u4e0d\u4f1a\u4ea7\u751f\u4f9d\u8d56\u51b2\u7a81\u3002<\/p>\n\n\n\n<p>YOLO \u89c6\u89c9\u8282\u70b9\u901a\u8fc7 WebSocket \u5c06\u68c0\u6d4b\u6570\u636e\u4f5c\u4e3a JSON \u6d88\u606f\u53d1\u9001\u3002\u8fd9\u4e9b\u6d88\u606f\u7531\u76d1\u542c\u8282\u70b9\u63a5\u6536\uff0c\u76d1\u542c\u8282\u70b9\u5c06\u6570\u636e\u91cd\u65b0\u6253\u5305\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u517c\u5bb9\u7684\u6d88\u606f\u3002\u8fd9\u79cd\u89e3\u8026\u7684\u5f02\u6b65\u901a\u4fe1\u786e\u4fdd\u4e86\u4f4e\u5ef6\u8fdf\u6027\u80fd\uff0c\u8fd9\u5bf9\u4e8e\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u9879\u76ee\u6240\u9700\u7684\u5feb\u901f\u53cd\u5e94\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u73b0\u5728\uff0c\u7279\u5b9a\u9879\u76ee\u8282\u70b9\u53ef\u4ee5\u8f7b\u677e\u8ba2\u9605\u66f4\u65b0\u540e\u7684\u68c0\u6d4b\u4e3b\u9898\u3002\u542f\u52a8\u4e00\u4e2a\u9879\u76ee\u53ea\u9700\u66f4\u65b0 roslaunch \u6587\u4ef6\uff0c\u4f7f\u5176\u6307\u5411\u65b0\u7684\u89c6\u89c9\u8282\u70b9\u3002\u6fc0\u6d3b\u540e\uff0c\u8fd9\u4e9b\u8282\u70b9\u89e3\u6790\u8fb9\u754c\u6846\u6570\u636e\uff0c\u786e\u5b9a\u76ee\u6807\u4f4d\u7f6e\uff0c\u5e76\u6839\u636e\u76ee\u6807\u7684\u4f4d\u7f6e\u548c\u8ddd\u79bb\uff0c\u89e6\u53d1\u8ddf\u8e2a\u3001\u8f6c\u5411\u6216\u8eb2\u907f\u7b49\u884c\u4e3a\u3002<\/p>\n\n\n\n<p>\u56fe 3\uff1a\u9879\u76ee\u811a\u672c\u6240\u4f7f\u7528\u7684\u6d41\u6c34\u7ebf\u56fe\u3002\u8be5\u56fe\u5c55\u793a\u7684\u662f\u7bee\u7403\u9879\u76ee\u7684\u6d41\u6c34\u7ebf\u3002<\/p>\n\n\n\n<p>\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u7684\u53d1\u5e03 \/ \u8ba2\u9605\u6a21\u578b\u786e\u4fdd\u6bcf\u4e2a\u7ec4\u4ef6\u4ec5\u5904\u7406\u6240\u9700\u7684\u6570\u636e\uff0c\u63d0\u9ad8\u4e86\u6548\u7387\u548c\u53ef\u6269\u5c55\u6027\u3002\u8fd9\u79cd\u6a21\u5757\u5316\u7ed3\u6784\u5728\u4fdd\u6301\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\u6838\u5fc3\u7a33\u5b9a\u6027\u7684\u540c\u65f6\uff0c\u652f\u6301\u7cfb\u7edf\u7684\u53ef\u6269\u5c55\u6027\uff0c\u975e\u5e38\u9002\u5408\u672a\u6765\u7684\u5347\u7ea7\u3002\u611f\u77e5\u4e0e\u51b3\u7b56\u7684\u5206\u79bb\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u53ef\u7ef4\u62a4\u6027\uff0c\u5e76\u786e\u4fdd\u7cfb\u7edf\u80fd\u591f\u652f\u6301\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u6bd4\u8d5b\u4e4b\u5916\u7684\u5176\u4ed6\u4efb\u52a1\u3002\u56fe 3 \u5c55\u793a\u4e86\u9879\u76ee\u8fdb\u884c\u8fc7\u7a0b\u4e2d\u5b8c\u6574\u6d41\u6c34\u7ebf\u7684\u793a\u4f8b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.4 \u4f18\u5316\u63aa\u65bd<\/h3>\n\n\n\n<p>\u4f18\u5316 YOLOv9 \u6a21\u578b\u5bf9\u4e8e\u5728 ROBOTIS-OP3 \u7684\u7eaf\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u7cfb\u7edf\u4e0a\u5b9e\u73b0\u5b9e\u65f6\u6027\u80fd\u81f3\u5173\u91cd\u8981\u3002\u91c7\u7528\u4e86\u8df3\u5e27\u3001\u8f93\u5165\u8c03\u6574\u5927\u5c0f\u3001\u6a21\u578b\u8f6c\u6362\u548c\u91cf\u5316\u7b49\u591a\u79cd\u7b56\u7565\uff0c\u4ee5\u51cf\u5c11\u63a8\u7406\u5ef6\u8fdf\uff0c\u540c\u65f6\u4fdd\u6301\u68c0\u6d4b\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p>\u6700\u6709\u6548\u7684\u65b9\u6cd5\u4e4b\u4e00\u662f\u8df3\u5e27\u6280\u672f\u3002\u7cfb\u7edf\u4e0d\u5904\u7406\u6bcf\u4e2a\u4f20\u5165\u5e27\uff0c\u800c\u662f\u5904\u7406\u6bcf\u7b2c n \u5e27\uff08n \u662f\u53ef\u914d\u7f6e\u53c2\u6570\uff09\u3002\u8fd9\u663e\u8457\u964d\u4f4e\u4e86\u8ba1\u7b97\u8d1f\u8f7d\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u7cfb\u7edf\u7684\u54cd\u5e94\u80fd\u529b\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u8ddf\u8e2a\u76ee\u6807\u5e76\u505a\u51fa\u53cd\u5e94\uff0c\u800c\u4e0d\u4f1a\u4f7f\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u8fc7\u8f7d\u3002\u53e6\u4e00\u9879\u5173\u952e\u4f18\u5316\u662f\u8f93\u5165\u8c03\u6574\u5927\u5c0f\u3002\u5728\u63a8\u7406\u4e4b\u524d\uff0c\u5c06\u6444\u50cf\u5934\u5e27\u7f29\u5c0f\u5230 YOLO \u7684\u539f\u751f\u8f93\u5165\u5c3a\u5bf8 640\u00d7640 \u50cf\u7d20\u3002\u8fd9\u786e\u4fdd\u4e86\u9ad8\u6548\u5904\u7406\uff0c\u907f\u514d\u4e86\u4e0d\u5fc5\u8981\u7684\u9ad8\u5206\u8fa8\u7387\u8ba1\u7b97\uff0c\u52a0\u5feb\u4e86\u9884\u5904\u7406\u548c\u63a8\u7406\u901f\u5ea6\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u68c0\u6d4b\u7684\u53ef\u9760\u6027\u3002\u4e3a\u8fdb\u4e00\u6b65\u51cf\u5c11\u63a8\u7406\u65f6\u95f4\uff0c\u5c06 YOLOv9 \u6a21\u578b\u4ece PyTorch \u8f6c\u6362\u4e3a\u5f00\u653e\u795e\u7ecf\u7f51\u7edc\u4ea4\u6362\uff08ONNX\uff09\u683c\u5f0f\uff0c\u7136\u540e\u518d\u8f6c\u6362\u4e3a\u82f1\u7279\u5c14\u9488\u5bf9\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u6027\u80fd\u4f18\u5316\u7684\u5de5\u5177\u5305 OpenVINO\u3002\u5f00\u653e\u795e\u7ecf\u7f51\u7edc\u4ea4\u6362\uff08ONNX\uff09\u8f6c\u6362\u786e\u4fdd\u4e86\u6a21\u578b\u7684\u53ef\u79fb\u690d\u6027\uff0c\u800c OpenVINO \u901a\u8fc7\u5229\u7528\u4e2d\u592e\u5904\u7406\u5668\uff08CPU\uff09\u7279\u5b9a\u6307\u4ee4\u548c\u4fee\u526a\u5197\u4f59\u64cd\u4f5c\uff0c\u52a0\u901f\u4e86\u63a8\u7406\u8fc7\u7a0b\u3002\u6700\u540e\uff0c\u5e94\u7528\u91cf\u5316\u6280\u672f\u51cf\u5c11\u6a21\u578b\u5927\u5c0f\u548c\u63a8\u7406\u65f6\u95f4\u3002\u4f7f\u7528 PyTorch \u7684\u91cf\u5316\u5de5\u5177\u5c06\u6743\u91cd\u548c\u6fc0\u6d3b\u503c\u4ece 32 \u4f4d\u6d6e\u70b9\u6570\u964d\u4f4e\u5230 8 \u4f4d\u6574\u6570\u3002\u8fd9\u4e00\u6b65\u9aa4\u5927\u5927\u51cf\u5c11\u4e86\u5185\u5b58\u4f7f\u7528\uff0c\u5e76\u52a0\u5feb\u4e86\u4f5c\u4e3a\u63a8\u7406\u6838\u5fc3\u74f6\u9888\u7684\u77e9\u9635\u8fd0\u7b97\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u4f18\u5316\u63aa\u65bd\u5171\u540c\u4f7f YOLOv9 \u7cfb\u7edf\u80fd\u591f\u5728 OP3 \u7684\u786c\u4ef6\u9650\u5236\u5185\u9ad8\u6548\u8fd0\u884c\u3002\u901a\u8fc7\u7ed3\u5408\u6a21\u578b\u7ea7\u548c\u786c\u4ef6\u7279\u5b9a\u6280\u672f\uff0c\u8be5\u7cfb\u7edf\u5728\u901f\u5ea6\u548c\u7cbe\u5ea6\u4e4b\u95f4\u53d6\u5f97\u4e86\u826f\u597d\u7684\u5e73\u8861\uff0c\u80fd\u591f\u5728\u8981\u6c42\u82db\u523b\u7684\u673a\u5668\u4eba\u73af\u5883\u4e2d\u5b9e\u73b0\u5b9e\u65f6\u76ee\u6807\u68c0\u6d4b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">5 \u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">5.1 YOLO \u8bad\u7ec3\u7ed3\u679c<\/h3>\n\n\n\n<p>\u8bad\u7ec3 YOLOv9 \u6a21\u578b\u662f\u786e\u4fdd\u9ad8\u68c0\u6d4b\u7cbe\u5ea6\u5e76\u4fdd\u6301\u5b9e\u65f6\u6027\u80fd\u7684\u5173\u952e\u6b65\u9aa4\u3002\u5728\u672c\u7814\u7a76\u7684\u7cfb\u7edf\u5b9e\u73b0\u4e2d\uff0c\u9488\u5bf9\u6bcf\u4e2a\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u9879\u76ee\uff0c\u4f7f\u7528 YOLOv9-Tiny\uff08T\uff09\u3001Small\uff08S\uff09\u548c Medium\uff08M\uff09\u4e09\u79cd\u67b6\u6784\uff0c\u5171\u8bad\u7ec3\u4e86\u4e5d\u4e2a\u6a21\u578b\u3002\u8fd9\u79cd\u591a\u6a21\u578b\u7b56\u7565\u6709\u52a9\u4e8e\u5728\u7cbe\u5ea6\u548c\u901f\u5ea6\u4e4b\u95f4\u53d6\u5f97\u5e73\u8861\uff0c\u8fd9\u5bf9\u4e8e\u90e8\u7f72\u5728\u8ba1\u7b97\u8d44\u6e90\u6709\u9650\u7684 ROBOTIS-OP3 \u673a\u5668\u4eba\u4e0a\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u63d0\u9ad8\u6a21\u578b\u7cbe\u5ea6\uff0c\u6240\u6709\u6a21\u578b\u90fd\u4f7f\u7528\u4e86\u5728 MSCOCO \u6570\u636e\u96c6\u4e0a\u9884\u8bad\u7ec3\u7684\u6743\u91cd\uff0c\u8fd9\u4e9b\u6743\u91cd\u53ef\u5728 Ultralytics\uff082024\uff09\u83b7\u53d6\u3002\u6b64\u5916\uff0c\u6240\u6709\u6a21\u578b\u7684\u8bad\u7ec3\u8010\u5fc3\u503c\u5747\u8bbe\u7f6e\u4e3a 5\uff0c\u4ee5\u907f\u514d\u8fc7\u62df\u5408\u3002\u8bad\u7ec3\u7ed3\u679c\u5982\u8868 2 \u6240\u793a\u3002<\/p>\n\n\n\n<p>\u8868 2\uff1aYOLO \u6a21\u578b\u8bad\u7ec3\u7ed3\u679c\u3002\u6240\u6709\u6a21\u578b\u5747\u8bad\u7ec3 100 \u4e2a\u5468\u671f\uff0c\u8010\u5fc3\u503c\u8bbe\u7f6e\u4e3a 5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>YOLOv9 \u8bad\u7ec3\u7ed3\u679c<\/th><th><\/th><th><\/th><th><\/th><th><\/th><\/tr><\/thead><tbody><tr><td>\u6a21\u578b\u540d\u79f0<\/td><td>\u5e73\u5747\u7cbe\u5ea6\u5747\u503c @0.5<\/td><td>\u5e73\u5747\u7cbe\u5ea6\u5747\u503c @0.5-0.95<\/td><td>\u7cbe\u5ea6<\/td><td>\u53ec\u56de\u7387<\/td><\/tr><tr><td>\u7bee\u7403<\/td><td><\/td><td><\/td><td><\/td><td><\/td><\/tr><tr><td>YOLOv9-T<\/td><td>0.994<\/td><td>0.92536<\/td><td>0.98565<\/td><td>0.98383<\/td><\/tr><tr><td>YOLOv9-S<\/td><td>0.995<\/td><td>0.96225<\/td><td>0.98253<\/td><td>0.99809<\/td><\/tr><tr><td>YOLOv9-M<\/td><td>0.99472<\/td><td>0.95518<\/td><td>0.9859<\/td><td>0.98571<\/td><\/tr><tr><td>\u5c04\u7bad<\/td><td><\/td><td><\/td><td><\/td><td><\/td><\/tr><tr><td>YOLOv9-T<\/td><td>0.95946<\/td><td>0.92109<\/td><td>0.95934<\/td><td>1<\/td><\/tr><tr><td>YOLOv9-S<\/td><td>0.98321<\/td><td>0.91407<\/td><td>0.95782<\/td><td>1<\/td><\/tr><tr><td>YOLOv9-M<\/td><td>0.99393<\/td><td>0.82793<\/td><td>0.95612<\/td><td>1<\/td><\/tr><tr><td>\u9a6c\u62c9\u677e<\/td><td><\/td><td><\/td><td><\/td><td><\/td><\/tr><tr><td>YOLOv9-T<\/td><td>0.75063<\/td><td>0.68905<\/td><td>0.67078<\/td><td>0.89904<\/td><\/tr><tr><td>YOLOv9-S<\/td><td>0.78545<\/td><td>0.71538<\/td><td>0.61382<\/td><td>1<\/td><\/tr><tr><td>YOLOv9-M<\/td><td>0.73501<\/td><td>0.61436<\/td><td>0.5923<\/td><td>0.87498<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u4e0d\u540c\u9879\u76ee\u7684\u8bad\u7ec3\u7ed3\u679c\u5b58\u5728\u5dee\u5f02\u3002\u5728\u7bee\u7403\u9879\u76ee\u4e2d\uff0c\u4e09\u4e2a\u6a21\u578b\u5728\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u3001\u7cbe\u5ea6\u548c\u53ec\u56de\u7387\u7b49\u6307\u6807\u4e0a\u5747\u53d6\u5f97\u4e86\u9ad8\u5206\uff0c\u8868\u660e\u6a21\u578b\u5177\u6709\u8f83\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u80fd\u591f\u5728\u4e0d\u540c\u5e27\u4e2d\u5b9e\u73b0\u53ef\u9760\u68c0\u6d4b\u3002<\/p>\n\n\n\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5c04\u7bad\u9879\u76ee\u7684\u6a21\u578b\u7ed3\u679c\u53c2\u5dee\u4e0d\u9f50\u3002\u5c3d\u7ba1\u53ec\u56de\u7387\u548c\u5e73\u5747\u7cbe\u5ea6\u5747\u503c 0.5\uff08mAP0.5\uff09\u8f83\u9ad8\uff0c\u4f46\u5e73\u5747\u7cbe\u5ea6\u5747\u503c 0.5-0.95\uff08mAP0.5-0.95\uff09\u7684\u5206\u6570\u5dee\u5f02\u663e\u8457\u3002\u7ed3\u5408\u8f83\u9ad8\u7684\u53ec\u56de\u7387\u5206\u6570\uff0c\u8fd9\u8868\u660e\u6a21\u578b\u5b58\u5728\u8fc7\u62df\u5408\u73b0\u8c61\uff1a\u6a21\u578b\u80fd\u591f\u6210\u529f\u8bc6\u522b\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u89c1\u8fc7\u7684\u76ee\u6807\uff0c\u4f46\u96be\u4ee5\u6cdb\u5316\u5230\u65b0\u6570\u636e\u3002\u53ef\u80fd\u9700\u8981\u8fdb\u4e00\u6b65\u7814\u7a76\u6216\u6570\u636e\u96c6\u589e\u5f3a\uff0c\u4ee5\u63d0\u9ad8\u5176\u7a33\u5065\u6027\u3002<\/p>\n\n\n\n<p>\u9a6c\u62c9\u677e\u9879\u76ee\u7684\u6a21\u578b\u6574\u4f53\u8868\u73b0\u6700\u5dee\uff0c\u4e09\u79cd\u67b6\u6784\u7684\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u548c\u7cbe\u5ea6\u5747\u8f83\u4f4e\u3002\u5c3d\u7ba1\u53ec\u56de\u7387\u76f8\u5bf9\u8f83\u9ad8\uff0c\u4f46\u6a21\u578b\u7684\u5206\u7c7b\u51c6\u786e\u6027\u6709\u5f85\u63d0\u9ad8\u3002\u8fd9\u4e3b\u8981\u662f\u7531\u4e8e\u8be5\u9879\u76ee\u4e2d\u4f7f\u7528\u7684\u89c6\u89c9\u6807\u8bb0\u5916\u89c2\u76f8\u4f3c\uff0c\u7279\u522b\u662f\u5de6\u53f3\u7bad\u5934\uff0c\u6a21\u578b\u7ecf\u5e38\u5c06\u5b83\u4eec\u6df7\u6dc6\u3002\u56fe 4 \u4e2d\u7684\u6df7\u6dc6\u77e9\u9635\u5206\u6790\u8bc1\u5b9e\u4e86\u8fd9\u4e00\u5e38\u89c1\u9519\u8bef\u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>\u56fe 4\uff1aYOLOv9-T \u9a6c\u62c9\u677e\u6a21\u578b\u7684\u6df7\u6dc6\u77e9\u9635\u3002\u8be5\u77e9\u9635\u8868\u660e\uff0c\u7531\u4e8e\u5de6\u53f3\u7bad\u5934\u5916\u89c2\u76f8\u4f3c\uff0c\u6a21\u578b\u7ecf\u5e38\u5c06\u5b83\u4eec\u6df7\u6dc6\u3002<\/p>\n\n\n\n<p>\u6a21\u578b\u6027\u80fd\u7684\u4e3b\u8981\u9650\u5236\u56e0\u7d20\u662f\u6570\u636e\u96c6\u7684\u6cdb\u5316\u80fd\u529b\u3002\u8003\u8651\u5230 OP3 \u6709\u9650\u7684\u8ba1\u7b97\u8d44\u6e90\uff0c\u4e3a\u5b9e\u73b0\u5b9e\u65f6\u63a8\u7406\uff0c\u8bad\u7ec3\u6570\u636e\u96c6\u5fc5\u987b\u4fdd\u6301\u8f83\u5c0f\u89c4\u6a21\u3002\u8fd9\u4e00\u9650\u5236\u5e38\u5e38\u5bfc\u81f4\u8fc7\u62df\u5408\uff0c\u6a21\u578b\u8bb0\u4f4f\u8bad\u7ec3\u6837\u672c\uff0c\u800c\u4e0d\u662f\u5b66\u4e60\u7a33\u5065\u7684\u7279\u5f81\u8868\u793a\u3002\u5c3d\u7ba1\u8fd9\u79cd\u6743\u8861\u9650\u5236\u4e86\u9a6c\u62c9\u677e\u7b49\u590d\u6742\u9879\u76ee\u7684\u51c6\u786e\u6027\uff0c\u4f46\u5bf9\u4e8e\u4fdd\u6301\u5b9e\u65f6\u64cd\u4f5c\u6027\u662f\u5fc5\u8981\u7684\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u5e27\u901f\u7387\u548c\u6548\u7387\u65b9\u9762\u7684\u4f18\u8d8a\u6027\u80fd\uff0c\u6700\u7ec8\u9009\u62e9\u4e86 Tiny\uff08YOLOv9-T\uff09\u6a21\u578b\u8fdb\u884c\u90e8\u7f72\u3002\u8fd9\u4e9b\u6a21\u578b\u5728\u901f\u5ea6\u548c\u53ef\u63a5\u53d7\u7684\u7cbe\u5ea6\u4e4b\u95f4\u53d6\u5f97\u4e86\u6700\u4f73\u5e73\u8861\uff0c\u975e\u5e38\u9002\u5408\u673a\u5668\u4eba\u89c6\u89c9\u7cfb\u7edf\u7684\u5b9e\u65f6\u8981\u6c42\u3002\u5728\u6240\u6709\u4f18\u5316\u63aa\u65bd\u5747\u5df2\u5e94\u7528\u4e14\u65e0\u76ee\u6807\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u7684\u57fa\u51c6\u6d4b\u8bd5\u8bc1\u5b9e\uff0cTiny \u6a21\u578b\u5728\u7a7a\u95f2\u72b6\u6001\u4e0b\u6301\u7eed\u63d0\u4f9b\u6700\u9ad8\u7684\u5e27\u901f\u7387\uff08\u89c1\u8868 3\uff09\u3002\u56e0\u6b64\uff0c\u5c06\u4f7f\u7528 YOLOv9-T \u6a21\u578b\u5bf9 YOLO \u89c6\u89c9\u6a21\u5757\u8fdb\u884c\u6027\u80fd\u6d4b\u8bd5\u3002\u672a\u6765\u7684\u7814\u7a76\u53ef\u80fd\u4f1a\u4fa7\u91cd\u4e8e\u5229\u7528\u8fc1\u79fb\u5b66\u4e60\u6216\u8f7b\u91cf\u7ea7\u589e\u5f3a\u7b56\u7565\uff0c\u5728\u4e0d\u727a\u7272\u901f\u5ea6\u7684\u60c5\u51b5\u4e0b\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u8868 3\uff1a\u7a7a\u95f2\u72b6\u6001\u4e0b\u7684\u5e27\u901f\u7387\u6d4b\u8bd5\u7ed3\u679c\u3002\u5728\u4e00\u5206\u949f\u5185\u6ca1\u6709\u68c0\u6d4b\u5230\u76ee\u6807\u7684\u60c5\u51b5\u4e0b\u53d6\u5e73\u5747\u503c\uff0c\u4ee5\u83b7\u5f97\u6e05\u6670\u7684\u57fa\u51c6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u7a7a\u95f2\u5e27\u901f\u7387\u6d4b\u8bd5\u7ed3\u679c<\/th><th><\/th><th><\/th><th><\/th><\/tr><\/thead><tbody><tr><td>\u67b6\u6784<\/td><td>\u7bee\u7403<\/td><td>\u5c04\u7bad<\/td><td>\u9a6c\u62c9\u677e<\/td><\/tr><tr><td>YOLOv9-T<\/td><td>7.99 \u5e27 \/ \u79d2<\/td><td>8.01 \u5e27 \/ \u79d2<\/td><td>7.98 \u5e27 \/ \u79d2<\/td><\/tr><tr><td>YOLOv9-S<\/td><td>2.75 \u5e27 \/ \u79d2<\/td><td>2.75 \u5e27 \/ \u79d2<\/td><td>2.74 \u5e27 \/ \u79d2<\/td><\/tr><tr><td>YOLOv9-M<\/td><td>0.86 \u5e27 \/ \u79d2<\/td><td>0.86 \u5e27 \/ \u79d2<\/td><td>0.84 \u5e27 \/ \u79d2<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">5.2 \u5b9e\u9a8c\u8bbe\u7f6e\u4e0e\u6d41\u7a0b<\/h3>\n\n\n\n<p>\u4e3a\u8bc4\u4f30 YOLOv9 \u6a21\u5757\u5728\u673a\u5668\u4eba\u73af\u5883\u4e2d\u7684\u6027\u80fd\uff0c\u8fdb\u884c\u4e86\u4e24\u79cd\u4e0d\u540c\u7c7b\u578b\u7684\u5b9e\u9a8c\uff1a\u9759\u6001\u6d4b\u8bd5\u548c\u52a8\u6001\u6d4b\u8bd5\u3002\u8fd9\u4e9b\u6d4b\u8bd5\u65e8\u5728\u6d4b\u91cf\u7cfb\u7edf\u5728\u53d7\u63a7\u73af\u5883\u548c\u5b9e\u9645\u5e94\u7528\u573a\u666f\u4e2d\u7684\u63a8\u7406\u901f\u5ea6\u3001\u5b9e\u65f6\u6027\u80fd\u548c\u51c6\u786e\u6027\u3002\u6b64\u5916\uff0c\u4e24\u79cd\u6d4b\u8bd5\u90fd\u5c06\u4e0e\u76ee\u524d\u5728\u673a\u5668\u4eba\u4e0a\u5b9e\u73b0\u7684\u51e0\u4f55\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\uff0c\u4ee5\u6b64\u4f5c\u4e3a\u8bc4\u4f30\u57fa\u4e8e\u89c6\u89c9\u7684\u6a21\u578b\u6709\u6548\u6027\u7684\u57fa\u51c6\u3002\u6240\u6709\u6d4b\u8bd5\u90fd\u5c06\u5728\u52b3\u4f26\u68ee\u667a\u80fd\u79fb\u52a8\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\uff08LIMRL\uff09\u5185\u8fdb\u884c\uff0c\u5982\u56fe 5 \u6240\u793a\u3002<\/p>\n\n\n\n<p>\u56fe 5\uff1a\u6240\u6709\u5b9e\u9a8c\uff08\u5305\u62ec\u9759\u6001\u548c\u52a8\u6001\u5b9e\u9a8c\uff09\u90fd\u5c06\u5728\u52b3\u4f26\u68ee\u667a\u80fd\u79fb\u52a8\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\uff08LIMRL\uff09\u7684\u4eba\u9020\u8349\u76ae\u573a\u4e0a\u8fdb\u884c\uff0c\u8be5\u573a\u5730\u4e0e\u56fd\u9645\u673a\u5668\u4eba\u8fd0\u52a8\u8054\u5408\u4f1a\uff08FIRA\uff09\u6bd4\u8d5b\u4e2d\u4f7f\u7528\u7684\u573a\u5730\u7c7b\u4f3c\u3002\u8fd9\u5f20\u7167\u7247\u5c55\u793a\u4e86\u7bee\u7403\u9879\u76ee\u7684\u5b9e\u9a8c\u8bbe\u7f6e\u3002<\/p>\n\n\n\n<p>\u9759\u6001\u6d4b\u8bd5\u901a\u8fc7\u5728\u673a\u5668\u4eba\u4fdd\u6301\u9759\u6b62\u72b6\u6001\u4e0b\u5904\u7406\u5e27\uff0c\u5206\u79bb\u89c6\u89c9\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u5173\u952e\u6307\u6807\u5305\u62ec\u63a8\u7406\u65f6\u95f4\u548c\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\uff0c\u4e3a\u5b9e\u65f6\u53ef\u884c\u6027\u548c\u8ba1\u7b97\u8d1f\u8f7d\u63d0\u4f9b\u57fa\u51c6\u3002\u52a8\u6001\u6d4b\u8bd5\u5728\u64cd\u4f5c\u6761\u4ef6\u4e0b\u8bc4\u4f30\u7cfb\u7edf\u6027\u80fd\uff0c\u673a\u5668\u4eba\u5229\u7528\u5176\u89c6\u89c9\u6a21\u5757\u4e0e\u73af\u5883\u4ea4\u4e92\u3002\u8fd9\u63ed\u793a\u4e86\u8fd0\u52a8\u3001\u5149\u7167\u548c\u5b9e\u65f6\u9700\u6c42\u5bf9\u68c0\u6d4b\u548c\u54cd\u5e94\u80fd\u529b\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>\u4e24\u79cd\u6d4b\u8bd5\u90fd\u4e0e\u4f7f\u7528\u989c\u8272\u5206\u5272\u548c\u57fa\u4e8e\u89c4\u5219\u903b\u8f91\u7684\u51e0\u4f55\u57fa\u51c6\u8fdb\u884c\u6bd4\u8f83\u3002\u8fd9\u79cd\u6bd4\u8f83\u91cf\u5316\u4e86\u901f\u5ea6\u3001\u51c6\u786e\u6027\u548c\u5b9e\u7528\u6027\u4e4b\u95f4\u7684\u6743\u8861\uff0c\u6709\u52a9\u4e8e\u8bc4\u4f30\u57fa\u4e8e YOLO \u7684\u7cfb\u7edf\u5728\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5.3 \u9759\u6001\u5b9e\u9a8c<\/h3>\n\n\n\n<p>\u5728\u9759\u6001\u5b9e\u9a8c\u4e2d\uff08\u89c1\u8868 4\uff09\uff0cYOLOv9 \u6a21\u578b\u80fd\u591f\u5b9e\u73b0\u4e0e\u73b0\u6709\u51e0\u4f55\u6a21\u578b\u76f8\u5f53\u7684\u7cbe\u5ea6\u6c34\u5e73\u3002\u5728\u9a6c\u62c9\u677e\u9879\u76ee\u4e2d\uff0cYOLO \u6a21\u578b\u7684\u7cbe\u5ea6\u8d85\u8fc7\u4e86\u51e0\u4f55\u6a21\u578b\u3002\u5c3d\u7ba1 YOLO \u6a21\u578b\u7684\u68c0\u6d4b\u66f4\u5177\u4e00\u81f4\u6027\uff0c\u4f46\u5b83\u7ecf\u5e38\u6df7\u6dc6\u7bad\u5934\u6807\u8bb0\u7c7b\u578b\uff0c\u5bfc\u81f4\u5047\u9633\u6027\u68c0\u6d4b\u3002\u56e0\u6b64\uff0cYOLO \u6a21\u5757\u5b9e\u73b0\u7684\u771f\u9633\u6027\u68c0\u6d4b\u6570\u91cf\u53ef\u80fd\u6bd4\u6570\u636e\u663e\u793a\u7684\u66f4\u63a5\u8fd1\u51e0\u4f55\u6a21\u578b\u3002<\/p>\n\n\n\n<p>\u5728\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u65b9\u9762\uff0c\u51e0\u4f55\u65b9\u6cd5\u7684\u6027\u80fd\u4ecd\u7136\u66f4\u4f18\uff0c\u6709\u65f6\u901f\u5ea6\u6bd4 YOLO \u6a21\u5757\u5feb 50%\u3002\u5c3d\u7ba1\u8fdb\u884c\u4e86\u4f18\u5316\uff0cYOLO \u6a21\u5757\u7684\u8fd0\u884c\u901f\u5ea6\u4ecd\u7136\u6bd4\u51e0\u4f55\u6a21\u5757\u6162\u5f97\u591a\uff0c\u4f46 YOLO \u6a21\u5757\u5177\u6709\u51e0\u4e2a\u5173\u952e\u4f18\u52bf\u3002\u4e0e\u5f53\u524d\u57fa\u4e8e\u989c\u8272\u5206\u5272\u7684\u65b9\u6cd5\u4e0d\u540c\uff0cYOLO \u7b49\u6846\u67b6\u5728\u8bad\u7ec3\u540e\u4e0d\u9700\u8981\u4efb\u4f55\u6821\u51c6\uff0c\u800c\u57fa\u4e8e\u989c\u8272\u5206\u5272\u7684\u65b9\u6cd5\u9700\u8981\u6f2b\u957f\u7684\u5fae\u8c03\u5468\u671f\u624d\u80fd\u83b7\u5f97\u826f\u597d\u7684\u7ed3\u679c\u3002\u5176\u6b21\uff0c\u901a\u8fc7\u6570\u636e\u589e\u5f3a\uff0cYOLO \u6a21\u5757\u5bf9\u73af\u5883\u53d8\u5316\u7684\u62b5\u6297\u529b\u66f4\u5f3a\u3002\u6570\u636e\u96c6\u589e\u5f3a\uff08\u5982\u4eae\u5ea6\u6216\u65cb\u8f6c\u8c03\u6574\uff09\u4f7f YOLO \u80fd\u591f\u5b9e\u73b0\u51e0\u4f55\u65b9\u6cd5\u65e0\u6cd5\u6bd4\u62df\u7684\u7a33\u5065\u6027\u3002\u5982\u56fe 6 \u6240\u793a\uff0c\u51e0\u4f55\u65b9\u6cd5\u7ecf\u5e38\u53d7\u5230\u80cc\u666f\u566a\u58f0\u7684\u5e72\u6270\uff0c\u800c YOLO \u8282\u70b9\u5219\u53ef\u4ee5\u5b8c\u5168\u5ffd\u7565\u8fd9\u4e9b\u566a\u58f0\u3002<\/p>\n\n\n\n<p>\u8868 4\uff1a\u65b0\u89c6\u89c9\u6a21\u5757\u7684\u9759\u6001\u6d4b\u8bd5\u7ed3\u679c\u3002\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u8861\u91cf\u901f\u5ea6\uff0c\u7cbe\u5ea6\u8868\u793a\u6b63\u786e\u68c0\u6d4b\u7684\u767e\u5206\u6bd4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u9759\u6001\u5b9e\u9a8c\u7ed3\u679c<\/th><th><\/th><th><\/th><\/tr><\/thead><tbody><tr><td>\u6a21\u5757<\/td><td>\u901f\u5ea6\uff08\u5e27 \/ \u79d2\uff09<\/td><td>\u7cbe\u5ea6<\/td><\/tr><tr><td>\u7bee\u7403<\/td><td><\/td><td><\/td><\/tr><tr><td>YOLO \u6a21\u5757<\/td><td>5.92<\/td><td>91.6%<\/td><\/tr><tr><td>\u51e0\u4f55\u6a21\u5757<\/td><td>12.99<\/td><td>91.7%<\/td><\/tr><tr><td>\u5c04\u7bad<\/td><td><\/td><td><\/td><\/tr><tr><td>YOLO \u6a21\u5757<\/td><td>6.22<\/td><td>92.24%<\/td><\/tr><tr><td>\u51e0\u4f55\u6a21\u5757<\/td><td>10.64<\/td><td>96.6%<\/td><\/tr><tr><td>\u9a6c\u62c9\u677e<\/td><td><\/td><td><\/td><\/tr><tr><td>YOLO \u6a21\u5757<\/td><td>6.12<\/td><td>91.67%*<\/td><\/tr><tr><td>\u51e0\u4f55\u6a21\u5757<\/td><td>8.21<\/td><td>50.8%<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u56fe 6\uff1a\u8be5\u56fe\u5c55\u793a\u4e86\u5728\u9759\u6001\u5b9e\u9a8c\u4e2d\uff0c\u51e0\u4f55\u8282\u70b9\u53d7\u5230\u80cc\u666f\u566a\u58f0\u5e72\u6270\u7684\u793a\u4f8b\u3002\u7531\u4e8e\u5149\u7167\u6761\u4ef6\u53d8\u5316\uff0c\u8be5\u8282\u70b9\u5c06\u80cc\u666f\u7269\u4f53\u68c0\u6d4b\u4e3a\u7403\u7684\u4e00\u90e8\u5206\uff0c\u5bfc\u81f4\u9519\u8bef\u3002YOLO \u8282\u70b9\u5bf9\u8fd9\u7c7b\u566a\u58f0\u7684\u62b5\u6297\u529b\u8981\u5f3a\u5f97\u591a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5.4 \u52a8\u6001\u5b9e\u9a8c<\/h3>\n\n\n\n<p>\u5728\u6027\u80fd\u65b9\u9762\uff0c\u52a8\u6001\u5b9e\u9a8c\u7684\u7ed3\u679c\u4e0e\u9759\u6001\u5b9e\u9a8c\u76f8\u4f3c\uff08\u89c1\u8868 5\uff09\u3002\u4e24\u4e2a\u6a21\u5757\u7684\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u90fd\u6709\u6240\u964d\u4f4e\uff0c\u4f46\u5b83\u4eec\u4e4b\u95f4\u7684\u5dee\u8ddd\u4fdd\u6301\u76f8\u4f3c\u3002\u552f\u4e00\u7684\u4f8b\u5916\u662f\u9a6c\u62c9\u677e\u9879\u76ee\uff0c\u5728\u8be5\u9879\u76ee\u4e2d\uff0c\u7531\u4e8e\u51e0\u4f55\u6a21\u5757\u9700\u8981\u5904\u7406\u66f4\u590d\u6742\u7684\u7bad\u5934\u6807\u8bb0\u68c0\u6d4b\u4efb\u52a1\uff0cYOLO \u6a21\u5757\u7684\u6027\u80fd\u80fd\u591f\u4e0e\u51e0\u4f55\u6a21\u5757\u76f8\u5ab2\u7f8e\u3002<\/p>\n\n\n\n<p>\u8868 5\uff1a\u65b0\u89c6\u89c9\u6a21\u5757\u7684\u52a8\u6001\u6d4b\u8bd5\u7ed3\u679c\u3002\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u8861\u91cf\u901f\u5ea6\uff0c\u7cbe\u5ea6\u8868\u793a\u6b63\u786e\u68c0\u6d4b\u7684\u767e\u5206\u6bd4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u52a8\u6001\u5b9e\u9a8c\u7ed3\u679c<\/th><th><\/th><th><\/th><\/tr><\/thead><tbody><tr><td>\u6a21\u5757<\/td><td>\u901f\u5ea6\uff08\u5e27 \/ \u79d2\uff09<\/td><td>\u7cbe\u5ea6<\/td><\/tr><tr><td>\u7bee\u7403<\/td><td><\/td><td><\/td><\/tr><tr><td>YOLO \u6a21\u5757<\/td><td>6.68<\/td><td>83.71%<\/td><\/tr><tr><td>\u51e0\u4f55\u6a21\u5757<\/td><td>12.30<\/td><td>50.9%<\/td><\/tr><tr><td>\u5c04\u7bad<\/td><td><\/td><td><\/td><\/tr><tr><td>YOLO \u6a21\u5757<\/td><td>4.41<\/td><td>90.1%<\/td><\/tr><tr><td>\u51e0\u4f55\u6a21\u5757<\/td><td>9.24<\/td><td>93.25%<\/td><\/tr><tr><td>\u9a6c\u62c9\u677e<\/td><td><\/td><td><\/td><\/tr><tr><td>YOLO \u6a21\u5757<\/td><td>5.90<\/td><td>39.77%<\/td><\/tr><tr><td>\u51e0\u4f55\u6a21\u5757<\/td><td>8.49<\/td><td>55.5%<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u4e0d\u540c\u9879\u76ee\u7684\u7cbe\u5ea6\u5dee\u5f02\u5f88\u5927\uff0c\u8fd9\u53d6\u51b3\u4e8e\u5b83\u4eec\u7684\u5177\u4f53\u8981\u6c42\u3002\u5728\u7bee\u7403\u9879\u76ee\u4e2d\uff0cYOLO \u6a21\u5757\u7684\u6027\u80fd\u4f18\u4e8e\u51e0\u4f55\u6a21\u5757\u3002\u4e4b\u524d\u7bee\u7403\u9879\u76ee\u7684\u51e0\u4f55\u6a21\u5757\u4f7f\u7528\u8f6e\u5ed3\u68c0\u6d4b\uff0c\u7531\u4e8e\u5149\u7167\u6761\u4ef6\u53d8\u5316\uff0c\u96be\u4ee5\u68c0\u6d4b\u7403\u5f62\u7269\u4f53\u3002\u5c3d\u7ba1\u7403\u68c0\u6d4b\u8bbe\u7f6e\u4e3a\u4e24\u79cd\u4e0d\u540c\u7684\u5206\u5272\u6a21\u5f0f\u5e76\u7ed3\u5408\u4f7f\u7528\u4ee5\u9002\u5e94\u5149\u7167\u53d8\u5316\uff0c\u4f46\u8fd9\u79cd\u65b9\u6cd5\u4ecd\u7136\u8f83\u4e3a\u7e41\u7410\u3002YOLO \u6a21\u5757\u66f4\u5584\u4e8e\u5e94\u5bf9\u8fd9\u79cd\u53d8\u5316\u6027\u3002\u5728\u5c04\u7bad\u9879\u76ee\u4e2d\uff0c\u4e24\u4e2a\u6a21\u5757\u7684\u6027\u80fd\u76f8\u4f3c\uff1b\u5728\u9a6c\u62c9\u677e\u9879\u76ee\u4e2d\uff0c\u51e0\u4f55\u6a21\u5757\u7684\u6027\u80fd\u4f18\u4e8e YOLO \u6a21\u5757\u3002\u9a6c\u62c9\u677e\u9879\u76ee\u9700\u8981\u68c0\u6d4b\u7bad\u5934\u6807\u8bb0\uff0c\u800c YOLO \u6a21\u5757\u96be\u4ee5\u533a\u5206\u4e0d\u540c\u7c7b\u578b\u7684\u6807\u8bb0\u3002\u56fe 7 \u5c55\u793a\u4e86\u7bee\u7403\u9879\u76ee\u7684\u8f93\u51fa\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u56fe 7\uff1aYOLO \u6bd4\u4f20\u7edf\u7684\u5206\u5272\u65b9\u6cd5\u66f4\u7a33\u5065\uff0c\u56e0\u6b64\u5bf9\u80cc\u666f\u566a\u58f0\u7684\u62b5\u6297\u529b\u66f4\u5f3a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5.5 \u7ed3\u679c\u8ba8\u8bba<\/h3>\n\n\n\n<p>\u5728\u9759\u6001\u6d4b\u8bd5\u4e2d\uff0c\u51e0\u4f55\u6a21\u5757\u5728\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u65b9\u9762\u59cb\u7ec8\u4f18\u4e8e YOLO\uff0c\u7531\u4e8e\u8ba1\u7b97\u6210\u672c\u8f83\u4f4e\uff0c\u5728\u6240\u6709\u573a\u666f\u4e0b\u7684\u5e73\u5747\u901f\u5ea6\u9ad8\u51fa 50%\u3002\u7136\u800c\uff0c\u5728\u590d\u6742\u4efb\u52a1\u4e2d\uff0c\u8fd9\u79cd\u4f18\u52bf\u6709\u6240\u51cf\u5f31\u3002YOLO \u5728\u5404\u9879\u6d4b\u8bd5\u4e2d\u4fdd\u6301\u4e86\u7a33\u5b9a\u7684\u5e27\u901f\u7387\uff0c\u8fd9\u8868\u660e\u901a\u8fc7\u526a\u679d\u6216\u786c\u4ef6\u52a0\u901f\u53ef\u80fd\u8fdb\u4e00\u6b65\u4f18\u5316\u6027\u80fd\u3002\u5206\u6790\u6bcf\u5e27\u5904\u7406\u65f6\u95f4\u53ef\u4ee5\u660e\u786e\u6bcf\u4e2a\u6a21\u578b\u7684\u8ba1\u7b97\u6210\u672c\u6240\u5728\u3002<\/p>\n\n\n\n<p>\u7cbe\u5ea6\u7ed3\u679c\u56e0\u9879\u76ee\u800c\u5f02\u3002\u7bee\u7403\u548c\u5c04\u7bad\u9879\u76ee\u7684\u5206\u6570\u76f8\u5f53\uff0c\u800c\u9a6c\u62c9\u677e\u9879\u76ee\u4e2d YOLO \u7684\u68c0\u6d4b\u7387\u66f4\u9ad8\uff0c\u4f46\u7531\u4e8e\u7c7b\u4f3c\u7bad\u5934\u6807\u8bb0\u7684\u9891\u7e41\u8bef\u5206\u7c7b\uff0c\u5176\u6709\u6548\u51c6\u786e\u6027\u53d7\u5230\u5f71\u54cd\u3002\u8fd9\u8868\u660e YOLO \u7684\u7f6e\u4fe1\u5ea6\u5206\u6570\u53ef\u80fd\u5e76\u4e0d\u603b\u662f\u53cd\u6620\u771f\u5b9e\u4e16\u754c\u7684\u53ef\u9760\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u51e0\u4f55\u6a21\u578b\u7684\u4e00\u81f4\u6027\u4f7f\u5176\u4e0d\u592a\u5bb9\u6613\u51fa\u73b0\u6b64\u7c7b\u5047\u9633\u6027\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u5f62\u72b6\u91cd\u590d\u7684\u7269\u4f53\u3002\u5728\u8fd0\u52a8\u6a21\u7cca\u7b49\u5931\u771f\u6761\u4ef6\u4e0b\u8fdb\u884c\u8fdb\u4e00\u6b65\u6d4b\u8bd5\uff0c\u53ef\u4ee5\u66f4\u5168\u9762\u5730\u8bc4\u4f30\u7cfb\u7edf\u7684\u7a33\u5065\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u6d89\u53ca\u8fd0\u52a8\u548c\u5b9e\u65f6\u51b3\u7b56\u7684\u52a8\u6001\u6d4b\u8bd5\u4e2d\uff0c\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u7684\u8d8b\u52bf\u4fdd\u6301\u4e00\u81f4\uff1a\u51e0\u4f55\u6a21\u5757\u5728\u901f\u5ea6\u65b9\u9762\u9886\u5148\uff0c\u4f46\u7531\u4e8e\u68c0\u6d4b\u590d\u6742\u6027\uff0c\u9a6c\u62c9\u677e\u9879\u76ee\u4e2d\u7684\u5dee\u8ddd\u6709\u6240\u7f29\u5c0f\u3002\u7279\u5b9a\u9879\u76ee\u7684\u6311\u6218\u5f71\u54cd\u4e86\u6027\u80fd\u8868\u73b0\u3002YOLO \u5728\u7bee\u7403\u9879\u76ee\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u6bd4\u51e0\u4f55\u6a21\u5757\u66f4\u5584\u4e8e\u5904\u7406\u5149\u7167\u53d8\u5316\u548c\u80cc\u666f\u6742\u4e71\uff0c\u800c\u51e0\u4f55\u6a21\u5757\u5728\u906e\u6321\u60c5\u51b5\u4e0b\u8868\u73b0\u4e0d\u4f73\u3002\u9a6c\u62c9\u677e\u9879\u76ee\u518d\u6b21\u66b4\u9732\u4e86 YOLO \u5728\u533a\u5206\u76f8\u4f3c\u6807\u8bb0\u65b9\u9762\u7684\u5f31\u70b9\uff0c\u800c\u51e0\u4f55\u6a21\u5757\u5219\u4fdd\u6301\u4e86\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002\u5c04\u7bad\u9879\u76ee\u7684\u6761\u4ef6\u76f8\u5bf9\u5747\u8861\uff0c\u4e24\u79cd\u65b9\u6cd5\u7684\u8868\u73b0\u90fd\u5f88\u51fa\u8272\u3002<\/p>\n\n\n\n<p>\u4e0d\u540c\u9879\u76ee\u7684\u7cbe\u5ea6\u5dee\u5f02\u663e\u8457\u3002\u7531\u4e8e YOLO \u80fd\u591f\u9002\u5e94\u89c6\u89c9\u566a\u58f0\uff0c\u5728\u7bee\u7403\u9879\u76ee\u4e2d\u8868\u73b0\u66f4\u4f18\u3002\u5728\u5c04\u7bad\u9879\u76ee\u4e2d\uff0c\u4e24\u4e2a\u6a21\u5757\u90fd\u5b9e\u73b0\u4e86\u8f83\u9ad8\u7684\u51c6\u786e\u6027\uff0c\u51e0\u4f55\u8282\u70b9\u7565\u5360\u4f18\u52bf\u3002\u5728\u9a6c\u62c9\u677e\u9879\u76ee\u4e2d\uff0c\u7531\u4e8e\u8bef\u5206\u7c7b\uff0cYOLO \u7684\u7cbe\u5ea6\u6025\u5267\u4e0b\u964d\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff0c\u6700\u4f18\u6a21\u5757\u7684\u9009\u62e9\u53d6\u51b3\u4e8e\u4efb\u52a1\u80cc\u666f\uff1a\u51e0\u4f55\u65b9\u6cd5\u9002\u5408\u53d7\u63a7\u73af\u5883\u6216\u5bf9\u901f\u5ea6\u8981\u6c42\u8f83\u9ad8\u7684\u5e94\u7528\uff0c\u800c YOLO \u5728\u8d44\u6e90\u5145\u8db3\u7684\u52a8\u6001\u3001\u4e0d\u53ef\u9884\u6d4b\u573a\u666f\u4e2d\u8868\u73b0\u66f4\u4f73\u3002<\/p>\n\n\n\n<p>\u603b\u4f53\u800c\u8a00\uff0c\u7ed3\u679c\u51f8\u663e\u4e86\u4e00\u79cd\u6743\u8861\uff1a\u51e0\u4f55\u6a21\u5757\u5728\u7b80\u5355\u4efb\u52a1\u4e2d\u901f\u5ea6\u5feb\u3001\u6548\u679c\u597d\uff0c\u4f46\u7f3a\u4e4f\u9002\u5e94\u6027\uff1b\u800c YOLO \u80fd\u591f\u5904\u7406\u590d\u6742\u573a\u666f\uff0c\u4f46\u9700\u8981\u66f4\u9ad8\u7684\u8ba1\u7b97\u6210\u672c\u3002\u6df7\u5408\u89e3\u51b3\u65b9\u6848\uff08YOLO \u7528\u4e8e\u68c0\u6d4b\uff0c\u51e0\u4f55\u65b9\u6cd5\u7528\u4e8e\u4f18\u5316\uff09\u53ef\u80fd\u7ed3\u5408\u4e24\u8005\u7684\u4f18\u52bf\u3002\u968f\u7740\u6df1\u5ea6\u5b66\u4e60\u5de5\u5177\u7684\u4e0d\u65ad\u53d1\u5c55\uff0c\u8fd9\u4e24\u79cd\u65b9\u6cd5\u4ecd\u7136\u6709\u6548\uff0c\u5177\u4f53\u9009\u62e9\u53d6\u51b3\u4e8e\u4efb\u52a1\u9700\u6c42\u548c\u786c\u4ef6\u9650\u5236\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">6 \u7ed3\u8bba<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">6.1 \u7814\u7a76\u53d1\u73b0\u603b\u7ed3<\/h3>\n\n\n\n<p>\u672c\u7814\u7a76\u6210\u529f\u5c55\u793a\u4e86\u5728\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u90e8\u7f72\u57fa\u4e8e YOLO \u7684\u89c6\u89c9\u6a21\u5757\u7684\u53ef\u884c\u6027\uff0c\u901a\u8fc7\u6709\u9488\u5bf9\u6027\u7684\u4f18\u5316\u514b\u670d\u4e86\u8ba1\u7b97\u6311\u6218\u3002\u901a\u8fc7\u8fdb\u884c\u9759\u6001\u548c\u52a8\u6001\u5b9e\u9a8c\uff0c\u672c\u7814\u7a76\u5168\u9762\u8bc4\u4f30\u4e86\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u76ee\u6807\u68c0\u6d4b\u4e0e\u4f20\u7edf\u51e0\u4f55\u65b9\u6cd5\u4e4b\u95f4\u7684\u6743\u8861\u3002\u7ed3\u679c\u5e76\u672a\u8868\u660e\u5176\u4e2d\u4e00\u79cd\u6a21\u5757\u66f4\u5177\u4f18\u52bf\uff0c\u800c\u662f\u51f8\u663e\u4e86\u6bcf\u79cd\u65b9\u6cd5\u7684\u4f18\u52bf\u548c\u5c40\u9650\u6027\uff0c\u4e3a\u673a\u5668\u4eba\u5e94\u7528\u63d0\u4f9b\u4e86\u6709\u4ef7\u503c\u7684\u89c1\u89e3\u3002<\/p>\n\n\n\n<p>\u9759\u6001\u5b9e\u9a8c\u8bc1\u5b9e\uff0cYOLO \u80fd\u591f\u5b9e\u73b0\u8f83\u9ad8\u7684\u68c0\u6d4b\u7cbe\u5ea6\uff0c\u5728\u7cbe\u5ea6\u65b9\u9762\u901a\u5e38\u4e0e\u51e0\u4f55\u65b9\u6cd5\u76f8\u5f53\u3002\u7136\u800c\uff0c\u51e0\u4f55\u6a21\u5757\u7684\u901f\u5ea6\u4ecd\u7136\u660e\u663e\u66f4\u5feb\uff0c\u5728\u67d0\u4e9b\u573a\u666f\u4e0b\u7684\u5904\u7406\u5e27\u901f\u7387\u51e0\u4e4e\u662f YOLO \u7684\u4e24\u500d\u3002\u5c3d\u7ba1\u8fd9\u4e00\u7ed3\u679c\u7b26\u5408\u9884\u671f\uff0c\u4f46\u8fd9\u79cd\u6548\u7387\u5dee\u8ddd\u51f8\u663e\u4e86\u8fdb\u4e00\u6b65\u4f18\u5316\u7684\u5fc5\u8981\u6027\uff0c\u7279\u522b\u662f\u8003\u8651\u5230 OP3 \u7684\u786c\u4ef6\u9650\u5236\u3002\u52a8\u6001\u5b9e\u9a8c\u8fdb\u4e00\u6b65\u5f3a\u8c03\u4e86\u8fd9\u79cd\u6743\u8861\u3002\u867d\u7136 YOLO \u8868\u73b0\u51fa\u66f4\u5f3a\u7684\u7a33\u5065\u6027\uff0c\u4f46\u5176\u5b9e\u65f6\u6027\u80fd\u8fdb\u4e00\u6b65\u4e0b\u964d\u3002\u51e0\u4f55\u65b9\u6cd5\u4fdd\u6301\u4e86\u901f\u5ea6\u4f18\u52bf\uff0c\u4f46\u5728\u5904\u7406\u67d0\u4e9b\u590d\u6742\u7269\u4f53\u7c7b\u578b\u65f6\u5b58\u5728\u56f0\u96be\u3002\u8fd9\u8868\u660e\uff0c\u5c3d\u7ba1\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u4f1a\u5e26\u6765\u663e\u8457\u7684\u8ba1\u7b97\u5f00\u9500\uff0c\u4f46\u5b83\u4eec\u6cdb\u5316\u5230\u5404\u79cd\u6761\u4ef6\u7684\u80fd\u529b\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8\u5b9e\u9645\u53ef\u7528\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">6.2 \u5c40\u9650\u6027\u4e0e\u6311\u6218<\/h3>\n\n\n\n<p>\u5c3d\u7ba1\u8be5\u7cfb\u7edf\u5728\u53d7\u63a7\u6761\u4ef6\u4e0b\u6210\u529f\u5b9e\u73b0\u4e86\u5b9e\u65f6\u68c0\u6d4b\uff0c\u4f46\u4ecd\u9700\u8ba4\u8bc6\u5230\u4e00\u4e9b\u5c40\u9650\u6027\u3002\u9996\u5148\uff0cOP3 \u5e73\u53f0\u7f3a\u4e4f\u4e13\u7528\u56fe\u5f62\u5904\u7406\u5668\uff08GPU\uff09\uff0c\u9700\u8981\u5927\u91cf\u4f18\u5316\u624d\u80fd\u7ef4\u6301\u53ef\u63a5\u53d7\u7684\u6027\u80fd\u3002\u5373\u4f7f\u7ecf\u8fc7\u91cf\u5316\u548c\u6a21\u578b\u8f6c\u6362\uff0c\u5728\u67d0\u4e9b\u9ad8\u9700\u6c42\u573a\u666f\u4e2d\uff0c\u63a8\u7406\u901f\u5ea6\u4ecd\u7136\u662f\u4e00\u4e2a\u663e\u8457\u7684\u74f6\u9888\u3002\u5176\u6b21\uff0c\u7531\u4e8e\u5fc5\u987b\u4fdd\u6301\u8f83\u5c0f\u7684\u6570\u636e\u96c6\u89c4\u6a21\uff0c\u6a21\u578b\u5728\u9700\u8981\u533a\u5206\u76f8\u4f3c\u7269\u4f53\u7684\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8fc7\u5ea6\u62df\u5408\u7684\u8ff9\u8c61\u3002\u5c3d\u7ba1\u7cfb\u7edf\u5728\u53d7\u63a7\u73af\u5883\u4e2d\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5149\u7167\u548c\u80cc\u666f\u6742\u4e71\u7684\u53d8\u5316\u5728\u5b9e\u9645\u573a\u666f\u4e2d\u4ecd\u7136\u4f1a\u5bf9\u68c0\u6d4b\u7cbe\u5ea6\u4ea7\u751f\u8f7b\u5fae\u5f71\u54cd\u3002\u5373\u4f7f\u7ecf\u8fc7\u589e\u5f3a\u5904\u7406\uff0c\u73af\u5883\u6761\u4ef6\u7684\u5267\u70c8\u53d8\u5316\u4e5f\u8868\u660e\uff0c\u9700\u8981\u66f4\u5177\u9002\u5e94\u6027\u7684\u8bad\u7ec3\u6570\u636e\u589e\u5f3a\u7b56\u7565\u3002\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\u9700\u8981\u7ed3\u5408\u786c\u4ef6\u6539\u8fdb\u3001\u989d\u5916\u7684\u8f6f\u4ef6\u4f18\u5316\u4ee5\u53ca\u8bad\u7ec3\u8fc7\u7a0b\u7684\u5b8c\u5584\uff0c\u4ee5\u63d0\u9ad8\u6a21\u578b\u5728\u5404\u79cd\u64cd\u4f5c\u6761\u4ef6\u4e0b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">6.3 \u672a\u6765\u7814\u7a76\u65b9\u5411<\/h3>\n\n\n\n<p>\u672c\u7814\u7a76\u4e3a\u672a\u6765\u7684\u7814\u7a76\u5f00\u8f9f\u4e86\u591a\u4e2a\u65b9\u5411\u3002\u4e00\u4e2a\u5173\u952e\u9886\u57df\u662f\u786c\u4ef6\u52a0\u901f\u3002\u5229\u7528\u82f1\u7279\u5c14\u795e\u7ecf\u8ba1\u7b97\u68d2\u6216\u6811\u8393\u6d3e\u4eba\u5de5\u667a\u80fd\u52a0\u901f\u5668\u7b49\u8fb9\u7f18\u8ba1\u7b97\u8bbe\u5907\uff0c\u53ef\u4ee5\u51cf\u8f7b\u63a8\u7406\u8d1f\u62c5\uff0c\u964d\u4f4e\u8ba1\u7b97\u538b\u529b\u3002\u5728\u7f51\u7edc\u73af\u5883\u4e2d\uff0c\u57fa\u4e8e\u4e91\u7684\u63a8\u7406\u6216\u9488\u5bf9\u56fe\u5f62\u5904\u7406\u5668\uff08GPU\uff09\/ \u73b0\u573a\u53ef\u7f16\u7a0b\u95e8\u9635\u5217\uff08FPGA\uff09\u4f18\u5316\u7684\u5b9e\u73b0\u53ef\u80fd\u663e\u8457\u63d0\u5347\u6027\u80fd\uff0c\u7279\u522b\u662f\u5728\u5bf9\u5ef6\u8fdf\u8981\u6c42\u8f83\u9ad8\u7684\u573a\u666f\u4e2d\u3002<\/p>\n\n\n\n<p>\u6269\u5c55\u6570\u636e\u96c6\u4ee5\u5305\u542b\u5404\u79cd\u73af\u5883\u6761\u4ef6\uff0c\u5e76\u5229\u7528\u8fc1\u79fb\u5b66\u4e60\uff0c\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002\u66f4\u5927\u6216\u66f4\u591a\u6837\u5316\u7684\u6570\u636e\u96c6\uff08\u53ef\u80fd\u501f\u52a9\u5408\u6210\u6570\u636e\u751f\u6210\uff09\u5c06\u6709\u52a9\u4e8e\u89e3\u51b3\u5c0f\u89c4\u6a21\u6837\u672c\u5bfc\u81f4\u7684\u8fc7\u62df\u5408\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u53e6\u4e00\u4e2a\u6709\u524d\u666f\u7684\u65b9\u5411\u662f\u591a\u6a21\u6001\u4f20\u611f\u3002\u5c06 YOLOv9 \u4e0e\u6df1\u5ea6\u4f20\u611f\u5668\u6216\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u76f8\u7ed3\u5408\uff0c\u53ef\u4ee5\u6539\u5584\u7269\u4f53\u5b9a\u4f4d\uff0c\u7279\u522b\u662f\u5728\u906e\u6321\u6216\u566a\u58f0\u8f83\u591a\u7684\u573a\u666f\u4e2d\u3002\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b49\u4f20\u611f\u5668\u878d\u5408\u6280\u672f\u53ef\u80fd\u51cf\u5c11\u4e0d\u786e\u5b9a\u6027\uff0c\u63d0\u9ad8\u68c0\u6d4b\u7a33\u5065\u6027\u3002<\/p>\n\n\n\n<p>\u6700\u540e\uff0c\u81ea\u9002\u5e94\u63a8\u7406\u7b56\u7565\uff08\u5982\u52a8\u6001\u8df3\u5e27\u3001\u5206\u8fa8\u7387\u7f29\u653e\u6216\u57fa\u4e8e\u7cfb\u7edf\u8d1f\u8f7d\u7684\u6a21\u578b\u5207\u6362\uff09\u53ef\u80fd\u4f18\u5316\u6027\u80fd\u3002\u5f3a\u5316\u5b66\u4e60\u6216\u81ea\u76d1\u7763\u65b9\u6cd5\u53ef\u4ee5\u4f7f\u6a21\u578b\u5728\u65e0\u9700\u5b8c\u5168\u91cd\u65b0\u8bad\u7ec3\u7684\u60c5\u51b5\u4e0b\u9002\u5e94\u5b9e\u9645\u73af\u5883\u6761\u4ef6\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c\u672c\u7814\u7a76\u5c55\u793a\u4e86\u5728\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u90e8\u7f72\u57fa\u4e8e YOLOv9 \u7684\u89c6\u89c9\u7cfb\u7edf\u7684\u53ef\u884c\u6027\uff0c\u901a\u8fc7\u6709\u9488\u5bf9\u6027\u7684\u4f18\u5316\u514b\u670d\u4e86\u786c\u4ef6\u9650\u5236\u3002\u8be5\u7814\u7a76\u4e3a\u6df1\u5ea6\u5b66\u4e60\u4e0e\u673a\u5668\u4eba\u6280\u672f\u7684\u878d\u5408\u63d0\u4f9b\u4e86\u7075\u6d3b\u7684\u57fa\u7840\uff0c\u5728\u81ea\u4e3b\u5bfc\u822a\u3001\u8f85\u52a9\u6280\u672f\u548c\u5de5\u4e1a\u81ea\u52a8\u5316\u7b49\u9886\u57df\u5177\u6709\u5e94\u7528\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u6587\u7ae0\u6765\u6e90\uff1a<a href=\"https:\/\/arxiv.org\/html\/2510.13625v1\">https:\/\/arxiv.org\/html\/2510.13625v1<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6458\u8981 \u5728\u673a\u5668\u4eba\u9886\u57df\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u4ecd\u662f\u963b\u788d\u53d1\u5c55\u7684\u91cd\u8981\u74f6\u9888\uff0c\u8bb8\u591a\u4efb\u52a1\u56e0\u89c6\u89c9&#46;&#46;&#46;<\/p>\n","protected":false},"author":2,"featured_media":304,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[18],"tags":[],"class_list":["post-303","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tools"],"_links":{"self":[{"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/posts\/303","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/comments?post=303"}],"version-history":[{"count":2,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/posts\/303\/revisions"}],"predecessor-version":[{"id":341,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/posts\/303\/revisions\/341"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/media\/304"}],"wp:attachment":[{"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/media?parent=303"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/categories?post=303"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/smartaiunion.com\/index.php\/wp-json\/wp\/v2\/tags?post=303"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}