Vision is an important way for unmanned mobile platforms to understand surrounding environmental information. For an unmanned mobile platform, quickly and accurately obtaining environmental information is a basic requirement for its subsequent visual tasks. Based on this, a unique convolution module called Multi-Scale Depthwise Separable Convolution module is proposed for real-time semantic segmentation. This module mainly consists of concatenation pointwise convolution and multi-scale depthwise convolution. Not only does the concatenation pointwise convolution change the number of channels, but it also combines the spatial features from the multi-scale depthwise convolution operations to produce additional features. The Multi-Scale Depthwise Separable Convolution module can strengthen the non-linear relationship between input and output. Specifically, the multi-scale depthwise convolution module extracts multi-scale spatial features while remaining lightweight. This fully uses multi-scale information to describe objects despite their different sizes. Here, Mean Intersection over Union (MIoU), parameters, and inference speed were used to describe the performance of the proposed network. On the Camvid, KITTI, and Cityscapes datasets, the proposed algorithm compromised between accuracy and memory in comparison to widely used and cutting-edge algorithms. In particular, the proposed algorithm acquired 61.02 MIoU with 2.68 M parameters on the Camvid test dataset.

This paper investigates a novel Efficient Dual-branch Bottleneck Network (EDBNet) to perform real-time semantic segmentation tasks on mobile robot systems based on CCD camera. To remedy the non-linear connection between the input and the output, a small-scale and shallow module called the Efficient Dual-branch Bottleneck (EDB) module is established. The EDB unit consists of two branches with different dilation rates, and each branch widens the non-linear layers. This module helps to simultaneously extract local and situational information while maintaining a minimal set of parameters. Moreover, the EDBNet, which is built on the EDB unit, is intended to enhance accuracy, inference speed, and parameter flexibility. It employs dilated convolution with a high dilation rate to increase the receptive field and three downsampling procedures to maintain feature maps with superior spatial resolution. Additionally, the EDBNet uses effective convolutions and compresses the network layer to reduce computational complexity, which is an efficient technique to capture a great deal of information while keeping a rapid computing speed. Finally, using the CamVid and Cityscapes datasets, we obtain Mean Intersection over Union (MIoU) results of 68.58 percent and 71.21 percent, respectively, with just 1.03 million parameters and faster performance on a single GTX 1070Ti card. These results also demonstrate the effectiveness of the practical mobile robot system.

The diverse visual features of tobacco leaves during various curing stages are influenced by multiple factors such as the origin of the tobacco and the environment of the curing room, making precise identification challenging with single features or models. To address this issue, this study proposes a Bayesian Mixture Expert Recognition Model for Tobacco Leaf Curing Stages based on feature fusion. First, deep learning models (ResNet34, MobileNetV2, EfficientNetb0) are utilized to extract deep features and traditional features positively correlated with curing stages from a constructed tobacco leaf image dataset. Various feature fusion methods (concatenate fusion, scaled fusion, adaptive gated fusion) are employed to construct multi-level feature representations. Next, different feature fusion methods of the same model are optimized to select the best-performing model as the foundational model for ensemble learning. Finally, Bayesian optimization is applied to integrate three optimized models, and comparisons are made with voting and weighted averaging methods. The proposed model achieves a recognition accuracy of 93.96% on the test set, with other performance metrics surpassing those of the base models. This research efficiently captures and robustly recognizes the complex dynamic visual features of the tobacco curing process through the integration of diverse features, adaptive adjustments, and expert collaboration mechanisms, thereby enhancing the system’s adaptability and interpretability in complex environments. This provides strong support for the intelligent upgrading of the tobacco industry.

In recent years, image processing technology has been increasingly studied on intelligent unmanned platforms, and the differences in the shooting environment during tobacco baking pose challenges to image processing algorithms. To address this problem, an ensemble multi-dimensional randomization network (EMRNet) for intelligent recognition of tobacco baking stage is proposed. The first is to obtain the tobacco leaf area during the baking process. Then, a multi-dimensional randomization network (MRNet) is designed to recognize tobacco baking stage. The effectiveness of MRNet lies in multi-scale hidden layer feature extraction, which can effectively enhance the expression ability of features to overcome the impact of differences between different environments on the tobacco baking stage. Finally, MRNet is used as component learner for constructing an ensemble randomization network structure to distinguish the tobacco baking stage. On the constructed tobacco baking stage dataset, EMRNet achieves 89.14% accuracy with 642.96MFLOPs. Compared with SVM, MLP, BP, ELM, CRVFL and other algorithms, EMRNet shows excellent performance in accuracy and model complexity. The proposed method explores the application of image processing technology in crop baking and drying, providing theoretical support for intelligent baking technology.