МОДЕЛЬ ТА АЛГОРИТМ НАВЧАННЯ СИСТЕМИ ДЕТЕКТУВАННЯ МАЛОРОЗМІРНИХ ОБ’ЄКТІВ ДЛЯ МАЛОГАБАРИТНИХ БЕЗПІЛОТНИХ ЛІТАЛЬНИХ АПАРАТІВ

The efficient model and learning algorithm of the small object detection system for compact aerial vehicle under conditions of restricted computing resources and the limited volume of the labeled learning set are developed. The four-stage learning algorithm of the object detector is proposed. At the first stage, selecting the type of deep convolutional neural network and the number of low-level layers that is pretrained on the ImageNet dataset for reusing takes place. The second stage involves unsupervised learning of high-level convolutional sparse coding layers using the modification of growing neural gas to automatically determine the required number of neurons and provide optimal distributions of the neurons over the data. Its application makes it possible to utilize the unlabeled learning datasets for the adaptation of the high-level feature description to the domain application area. At the third stage, the output feature map is formed by concatenation of feature maps from the different level of the deep convolutional neural network. At that, there is a reduction of output feature map using principal component analysis and followed by the building of decision rules. In order to perform the classification analysis of output, feature map is proposed to use information-extreme classifier learning on principles of boosting. Besides that, the orthogonal incremental extreme learning machine is used to build the regression model for the predict bounding box of the detected small object. The last stage involves fine-tuning of high-level layers of deep network using simulated annealing metaheuristic algorithm in order to approximate the global optimum of the complex criterion of learning efficiency of detection model. As a result of the use of proposed approach has been achieved 96% correctly detection of objects on the images of the open test dataset which indicates the suitability of the model and learning algorithm for practical use. In this case, the size of the learning dataset that has been used to construct the model was 500 unlabeled and 200 labeled learning samples