Fig. 3
From: AGV monocular vision localization algorithm based on Gaussian saliency heuristic
The proposed GAGV-net. The joint multi-scale classification module includes two parts: a, d, where a is the global feature fusion module and d is the decision feature fusion and classification module. Global feature fusion module integrates global features by introducing attention mechanism to improve the feature expression of the target. b, c are channel attention operation and spatial attention operation in global feature fusion module, respectively