التفاصيل البيبلوغرافية
| العنوان: |
BlabberSeg: Real-Time Embedded Open-Vocabulary Aerial Segmentation |
| المؤلفون: |
Bong, Haechan Mark, de Azambuja, Ricardo, Beltrame, Giovanni |
| سنة النشر: |
2024 |
| المجموعة: |
Computer Science |
| مصطلحات موضوعية: |
Computer Science - Robotics |
| الوصف: |
Real-time aerial image segmentation plays an important role in the environmental perception of Uncrewed Aerial Vehicles (UAVs). We introduce BlabberSeg, an optimized Vision-Language Model built on CLIPSeg for on-board, real-time processing of aerial images by UAVs. BlabberSeg improves the efficiency of CLIPSeg by reusing prompt and model features, reducing computational overhead while achieving real-time open-vocabulary aerial segmentation. We validated BlabberSeg in a safe landing scenario using the Dynamic Open-Vocabulary Enhanced SafE-Landing with Intelligence (DOVESEI) framework, which uses visual servoing and open-vocabulary segmentation. BlabberSeg reduces computational costs significantly, with a speed increase of 927.41% (16.78 Hz) on a NVIDIA Jetson Orin AGX (64GB) compared with the original CLIPSeg (1.81Hz), achieving real-time aerial segmentation with negligible loss in accuracy (2.1% as the ratio of the correctly segmented area with respect to CLIPSeg). BlabberSeg's source code is open and available online. |
| نوع الوثيقة: |
Working Paper |
| URL الوصول: |
http://arxiv.org/abs/2410.12979 |
| رقم الانضمام: |
edsarx.2410.12979 |
| قاعدة البيانات: |
arXiv |