YOLO with feature enhancement and its application in intelligent assembly

Object detection is the most important part in intelligent assembly tasks, accurate and fast detection for different targets can complete positioning and assembly tasks more automatically and efficiently. In this paper, a feature enhancement object detection model based on YOLO is proposed. Firstly, the expression ability of feature layer is enhanced through RFP (Recursive Feature Pyramid) structure. The ARSPP (Atrous Residual Spatial Pyramid Pooling) is proposed to have a further enhancement for the feature layers output by the backbone network, it improves the recognition performance for multi-scale targets of model by using different size of dilated convolution and residual connection. Finally, the contiguous pyramid features are fused and enhanced through the attention mechanism, the results are used for the input of next recursive or predictive output. The model proposed in this paper effectively improves the detection accuracy of YOLO, it has 3% MAP improvement in PASCAL VOC dataset. The validity and accuracy of the model are verified in the robot intelligent assembly recognition task.