• 드라이브 ㆍ 컨트롤
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• 제20권2호
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• pp.15-23
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• 2023

In this study, two-dimensional location of crops for auto weeding was detected using deep learning. To construct a dataset for soybean detection, an image-capturing system was developed using a mono camera and single-board computer and the system was mounted on a weeding robot to collect soybean images. A dataset was constructed by extracting RoI (region of interest) from the raw image and each sample was labeled with soybean and the background for classification learning. The deep learning model consisted of four convolutional layers and was trained with a weakly supervised learning method that can provide object localization only using image-level labeling. Localization of the soybean area can be visualized via CAM and the two-dimensional position of the soybean was estimated by clustering the pixels associated with the soybean area and transforming the pixel coordinates to world coordinates. The actual position, which is determined manually as pixel coordinates in the image was evaluated and performances were 6.6(X-axis), 5.1(Y-axis) and 1.2(X-axis), 2.2(Y-axis) for MSE and RMSE about world coordinates, respectively. From the results, we confirmed that the center position of the soybean area derived through deep learning was sufficient for use in automatic weeding systems.