Mixtures of Lightweight Deep Convolutional Neural Networks: Applied to Agricultural Robotics

We propose a novel approach for training deep convolutional neural networks (DCNNs) that allows us to tradeoff complexity and accuracy to learn lightweight models suitable for robotic platforms such as AgBot II (which performs automated weed management). Our approach consists of three stages, the first is to adapt a pre-trained model to the task at hand. This provides state-of-the-art performance but at the cost of high computational complexity resulting in a low frame rate of just 0.12 frames per second (fps). Second, we use the adapted model and employ model compression techniques to learn a lightweight DCNN that is less accurate but has two orders of magnitude fewer parameters. Third, $K$ lightweight models are combined as a mixture model to further enhance the performance of the lightweight models. Applied to the challenging task of weed segmentation, we improve the accuracy from 85.9%, using a traditional approach, to 93.9% by adapting a complicated pre-trained DCNN with 25M parameters (Inception-v3). The downside to this adapted model, Adapted-IV3, is that it can only process 0.12 fps. To make this approach fast while still retaining accuracy, we learn lightweight DCNNs which when combined can achieve accuracy greater than 90% while using considerably fewer parameters capable of processing between 1.07 and 1.83 fps, up to an order of magnitude faster and up to an order of magnitude fewer parameters.