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@ -1598,7 +1598,7 @@ computational cost of between eight to nine times. MobileNet v2
\emph{squeeze and excitation layers} among other improvements. These \emph{squeeze and excitation layers} among other improvements. These
concepts led to better classification accuracy at the same or smaller concepts led to better classification accuracy at the same or smaller
model size. The authors evaluate a large and a small variant of model size. The authors evaluate a large and a small variant of
MobileNet v3 on Imagenet on single-core phone processors and achieve a MobileNet v3 on ImageNet on single-core phone processors and achieve a
top-1 accuracy of 75.2\% and 67.4\% respectively. top-1 accuracy of 75.2\% and 67.4\% respectively.
\section{Transfer Learning} \section{Transfer Learning}
@ -1664,7 +1664,7 @@ which have to be made as a result of using transfer learning can
introduce more complexity than would otherwise be necessary for a introduce more complexity than would otherwise be necessary for a
particular problem. It does, however, allow researchers to get started particular problem. It does, however, allow researchers to get started
quickly and to iterate faster because popular network architectures quickly and to iterate faster because popular network architectures
pretrained on Imagenet are integrated into the major machine learning pretrained on ImageNet are integrated into the major machine learning
frameworks. Transfer learning is used extensively in this work to frameworks. Transfer learning is used extensively in this work to
train a classifier as well as an object detection model. train a classifier as well as an object detection model.
@ -2300,7 +2300,7 @@ the \gls{coco} test data set.
The authors of \gls{yolo}v6 \cite{li2022a} use a new backbone based on The authors of \gls{yolo}v6 \cite{li2022a} use a new backbone based on
RepVGG \cite{ding2021} which they call EfficientRep. They also use RepVGG \cite{ding2021} which they call EfficientRep. They also use
different losses for classification (Varifocal loss \cite{zhang2021}) different losses for classification (varifocal loss \cite{zhang2021})
and bounding box regression (\gls{siou} and bounding box regression (\gls{siou}
\cite{gevorgyan2022}/\gls{giou} \cite{rezatofighi2019}). \gls{yolo}v6 \cite{gevorgyan2022}/\gls{giou} \cite{rezatofighi2019}). \gls{yolo}v6
is made available in eight scaled version of which the largest is made available in eight scaled version of which the largest
@ -2310,7 +2310,7 @@ achieves a \gls{map} of 57.2\% on the \gls{coco} test set.
\label{sssec:yolov7} \label{sssec:yolov7}
At the time of implementation of our own plant detector, \gls{yolo}v7 At the time of implementation of our own plant detector, \gls{yolo}v7
\cite{wang2022b} was the newest version within the \gls{yolo} \cite{wang2022} was the newest version within the \gls{yolo}
family. Similarly to \gls{yolo}v4, it introduces more trainable bag of family. Similarly to \gls{yolo}v4, it introduces more trainable bag of
freebies which do not impact inference time. The improvements include freebies which do not impact inference time. The improvements include
the use of \glspl{eelan} (based on \glspl{elan} \cite{wang2022a}), the use of \glspl{eelan} (based on \glspl{elan} \cite{wang2022a}),
@ -2444,31 +2444,79 @@ random value within a range with a specified probability.
\chapter{Prototype Implementation} \chapter{Prototype Implementation}
\label{chap:implementation} \label{chap:implementation}
In this chapter we describe the implementation of the prototype. Part
of the implementation is how the two models were trained and with
which data sets, how the models are deployed to the \gls{sbc}, and how
they were optimized.
\section{Object Detection} \section{Object Detection}
\label{sec:development-detection} \label{sec:development-detection}
Describe how the object detection model was trained and what the As mentioned before, our approach is split into a detection and a
training set looks like. Include a section on hyperparameter classification stage. The object detector detects all plants in an
optimization and go into detail about how the detector was optimized. image during the first stage and passes the cutouts on to the
classifier. In this section, we describe what the data set the object
detector was trained with looks like, what the results of the training
phase are and how the model was optimized with respect to its
hyperparameters.
The object detection model was trained for 300 epochs on 79204 images \subsection{Data Set}
with 284130 ground truth labels. The weights from the best-performing \label{ssec:obj-train-dataset}
epoch were saved. The model's fitness for each epoch is calculated as
the weighted average of \textsf{mAP}@0.5 and \textsf{mAP}@0.5:0.95: The object detection model has to correctly detect plants in various
locations, different lighting conditions, and in partially occluded
settings. Fortunately, there are many data sets available which
contain a large amount of classes and samples of common everyday
objects. Most of these data sets contain at least one class about
plants and multiple related classes such as \emph{houseplant} and
\emph{potted plant} can be merged together to form a single
\emph{plant} class which exhibits a great variety of samples. One such
data set which includes the aforementioned classes is the \gls{oid}
\cite{kuznetsova2020,krasin2017}.
The \gls{oid} has been published in multiple versions starting in 2016
with version one. The most recent iteration is version seven which has
been released in October 2022. We use version six of the data set in
our own work which contains \num{9011219} training, \num{41620}
validation, and \num{125436} testing images. The data set provides
image-level labels, bounding boxes, object segmentations, visual
relationships, and localized narratives on those images. For our own
work, we are only interested in the labeled bounding boxes of all
images which belong to the classes \emph{Houseplant} and \emph{Plant}
with their respective class identifiers \texttt{/m/03fp41} and
\texttt{/m/05s2s}. These images have been extracted from the data set
and arranged in the directory structure which \gls{yolo}v7
requires. The bounding boxes themselves are collapsed into one single
label \emph{Plant} and converted to the \gls{yolo}v7 label format. In
total, there are \num{79204} images with \num{284130} bounding boxes
in the training set. \gls{yolo}v7 continuously validates the training
progress after every epoch on a validation set of \num{3091} images
with \num{4092} bounding boxes.
\subsection{Training Phase}
\label{ssec:obj-training-phase}
We use the smallest \gls{yolo}v7 model which has \num{36.9e6}
parameters \cite{wang2022} and has been pretrained on the \gls{coco}
data set \cite{lin2015} with an input size of \num{640} by \num{640}
pixels. The object detection model was then fine-tuned for \num{300}
epochs on the training set. The weights from the best-performing epoch
were saved. The model's fitness for each epoch is calculated as the
weighted average of \gls{map}@0.5 and \gls{map}@0.5:0.95:
\begin{equation} \begin{equation}
\label{eq:fitness} \label{eq:fitness}
f_{epoch} = 0.1 \cdot \mathsf{mAP}@0.5 + 0.9 \cdot \mathsf{mAP}@0.5\mathrm{:}0.95 f_{epoch} = 0.1 \cdot \mathrm{\gls{map}}@0.5 + 0.9 \cdot \mathrm{\gls{map}}@0.5\mathrm{:}0.95
\end{equation} \end{equation}
Figure~\ref{fig:fitness} shows the model's fitness over the training Figure~\ref{fig:fitness} shows the model's fitness over the training
period of 300 epochs. The gray vertical line indicates the maximum period of \num{300} epochs. The gray vertical line indicates the
fitness of 0.61 at epoch 133. The weights of that epoch were frozen to maximum fitness of \num{0.61} at epoch \num{133}. The weights of that
be the final model parameters. Since the fitness metric assigns the epoch were frozen to be the final model parameters. Since the fitness
\textsf{mAP} at the higher range the overwhelming weight, the metric assigns the \gls{map} at the higher range the overwhelming
\textsf{mAP}@0.5 starts to decrease after epoch 30, but the weight, the \gls{map}@0.5 starts to decrease after epoch \num{30}, but
\textsf{mAP}@0.5:0.95 picks up the slack until the maximum fitness at the \gls{map}@0.5:0.95 picks up the slack until the maximum fitness at
epoch 133. This is an indication that the model achieves good epoch \num{133}. This is an indication that the model achieves good
performance early on and continues to gain higher confidence values performance early on and continues to gain higher confidence values
until performance deteriorates due to overfitting. until performance deteriorates due to overfitting.
@ -2477,8 +2525,8 @@ until performance deteriorates due to overfitting.
\includegraphics{graphics/model_fitness.pdf} \includegraphics{graphics/model_fitness.pdf}
\caption[Object detection fitness per epoch.]{Object detection model \caption[Object detection fitness per epoch.]{Object detection model
fitness for each epoch calculated as in fitness for each epoch calculated as in
equation~\ref{eq:fitness}. The vertical gray line at 133 marks the equation~\ref{eq:fitness}. The vertical gray line at \num{133}
epoch with the highest fitness.} marks the epoch with the highest fitness.}
\label{fig:fitness} \label{fig:fitness}
\end{figure} \end{figure}
@ -2489,11 +2537,11 @@ starts to decrease from the beginning, while recall experiences a
barely noticeable increase. Taken together with the box and object barely noticeable increase. Taken together with the box and object
loss from figure~\ref{fig:box-obj-loss}, we speculate that the loss from figure~\ref{fig:box-obj-loss}, we speculate that the
pre-trained model already generalizes well to plant detection because pre-trained model already generalizes well to plant detection because
one of the categories in the COCO~\cite{lin2015} dataset is one of the categories in the \gls{coco} \cite{lin2015} dataset is
\emph{potted plant}. Any further training solely impacts the \emph{potted plant}. Any further training solely impacts the
confidence of detection, but does not lead to higher detection confidence of detection, but does not lead to higher detection
rates. This conclusion is supported by the increasing rates. This conclusion is supported by the increasing
\textsf{mAP}@0.5:0.95 until epoch 133. \gls{map}@0.5:0.95 until epoch \num{133}.
\begin{figure} \begin{figure}
\centering \centering
@ -2524,226 +2572,67 @@ the bounding boxes become tighter around objects of interest. With
increasing training time, however, the object loss increases, increasing training time, however, the object loss increases,
indicating that less and less plants are present in the predicted indicating that less and less plants are present in the predicted
bounding boxes. It is likely that overfitting is a cause for the bounding boxes. It is likely that overfitting is a cause for the
increasing object loss from epoch 40 onward. Since the best weights as increasing object loss from epoch \num{40} onward. Since the best
measured by fitness are found at epoch 133 and the object loss weights as measured by fitness are found at epoch \num{133} and the
accelerates from that point, epoch 133 is probably the correct cutoff object loss accelerates from that point, epoch \num{133} is arguably
before overfitting occurs. the correct cutoff before overfitting occurs.
\begin{figure} \begin{figure}
\centering \centering
\includegraphics{graphics/val_box_obj_loss.pdf} \includegraphics{graphics/val_box_obj_loss.pdf}
\caption[Object detection box and object loss.]{Box and object loss \caption[Object detection box and object loss.]{Box and object loss
measured against the validation set of 3091 images and 4092 ground measured against the validation set of \num{3091} images and
truth labels. The class loss is omitted because there is only one \num{4092} ground truth labels. The class loss is omitted because
class in the dataset and the loss is therefore always zero.} there is only one class in the dataset and the loss is therefore
always zero.}
\label{fig:box-obj-loss} \label{fig:box-obj-loss}
\end{figure} \end{figure}
Estimated 2 pages for this section. \subsection{Hyperparameter Optimization}
\label{ssec:obj-hypopt}
\section{Classification}
\label{sec:development-classification}
Describe how the classification model was trained and what the
training set looks like. Include a subsection hyperparameter
optimization and go into detail about how the classifier was
optimized.
The dataset was split 85/15 into training and validation sets. The
images in the training set were augmented with a random crop to arrive
at the expected image dimensions of 224 pixels. Additionally, the
training images were modified with a random horizontal flip to
increase the variation in the set and to train a rotation invariant
classifier. All images, regardless of their membership in the training
or validation set, were normalized with the mean and standard
deviation of the ImageNet~\cite{deng2009} dataset, which the original
\gls{resnet} model was pre-trained with. Training was done for 50
epochs and the best-performing model as measured by validation
accuracy was selected as the final version.
Figure~\ref{fig:classifier-training-metrics} shows accuracy and loss
on the training and validation sets. There is a clear upwards trend
until epoch 20 when validation accuracy and loss stabilize at around
0.84 and 0.3, respectively. The quick convergence and resistance to
overfitting can be attributed to the model already having robust
feature extraction capabilities.
\begin{figure}
\centering
\includegraphics{graphics/classifier-metrics.pdf}
\caption[Classifier accuracy and loss during training.]{Accuracy and
loss during training of the classifier. The model converges
quickly, but additional epochs do not cause validation loss to
increase, which would indicate overfitting. The maximum validation
accuracy of 0.9118 is achieved at epoch 27.}
\label{fig:classifier-training-metrics}
\end{figure}
Estimated 2 pages for this section.
\section{Deployment}
Describe the Jetson Nano, how the model is deployed to the device and
how it reports its results (REST API).
Estimated 2 pages for this section.
\chapter{Evaluation}
\label{chap:evaluation}
The following sections contain a detailed evaluation of the model in
various scenarios. First, we present metrics from the training phases
of the constituent models. Second, we employ methods from the field of
\gls{xai} such as \gls{grad-cam} to get a better understanding of the
models' abstractions. Finally, we turn to the models' aggregate
performance on the test set.
\section{Methodology}
\label{sec:methodology}
Go over the evaluation methodology by explaining the test datasets,
where they come from, and how they're structured. Explain how the
testing phase was done and which metrics are employed to compare the
models to the SOTA.
Estimated 2 pages for this section.
\section{Results}
\label{sec:results}
Systematically go over the results from the testing phase(s), show the
plots and metrics, and explain what they contain.
Estimated 4 pages for this section.
\subsection{Object Detection}
\label{ssec:yolo-eval}
The following parapraph should probably go into
section~\ref{sec:development-detection}.
The object detection model was pre-trained on the COCO~\cite{lin2015}
dataset and fine-tuned with data from the \gls{oid}
\cite{kuznetsova2020} in its sixth version. Since the full \gls{oid}
dataset contains considerably more classes and samples than would be
feasibly trainable on a small cluster of \glspl{gpu}, only images from
the two classes \emph{Plant} and \emph{Houseplant} have been
downloaded. The samples from the Houseplant class are merged into the
Plant class because the distinction between the two is not necessary
for our model. Furthermore, the \gls{oid} contains not only bounding
box annotations for object detection tasks, but also instance
segmentations, classification labels and more. These are not needed
for our purposes and are omitted as well. In total, the dataset
consists of 91479 images with a roughly 85/5/10 split for training,
validation and testing, respectively.
\subsubsection{Test Phase}
\label{sssec:yolo-test}
Of the 91479 images around 10\% were used for the test phase. These
images contain a total of 12238 ground truth
labels. Table~\ref{tab:yolo-metrics} shows precision, recall and the
harmonic mean of both ($\mathrm{F}_1$-score). The results indicate
that the model errs on the side of sensitivity because recall is
higher than precision. Although some detections are not labeled as
plants in the dataset, if there is a labeled plant in the ground truth
data, the chance is high that it will be detected. This behavior is in
line with how the model's detections are handled in practice. The
detections are drawn on the original image and the user is able to
check the bounding boxes visually. If there are wrong detections, the
user can ignore them and focus on the relevant ones instead. A higher
recall will thus serve the user's needs better than a high precision.
\begin{table}[h]
\centering
\begin{tabular}{lrrrr}
\toprule
{} & Precision & Recall & $\mathrm{F}_1$-score & Support \\
\midrule
Plant & 0.547571 & 0.737866 & 0.628633 & 12238.0 \\
\bottomrule
\end{tabular}
\caption{Precision, recall and $\mathrm{F}_1$-score for the object
detection model.}
\label{tab:yolo-metrics}
\end{table}
Figure~\ref{fig:yolo-ap} shows the \gls{ap} for the \gls{iou}
thresholds of 0.5 and 0.95. Predicted bounding boxes with an \gls{iou}
of less than 0.5 are not taken into account for the precision and
recall values of table~\ref{tab:yolo-metrics}. The lower the detection
threshold, the more plants are detected. Conversely, a higher
detection threshold leaves potential plants undetected. The
precision-recall curves confirm this behavior because the area under
the curve for the threshold of 0.5 is higher than for the threshold of
0.95 ($0.66$ versus $0.41$). These values are combined in COCO's
\cite{lin2015} main evaluation metric which is the \gls{ap} averaged
across the \gls{iou} thresholds from 0.5 to 0.95 in 0.05 steps. This
value is then averaged across all classes and called \gls{map}. The
object detection model achieves a state-of-the-art \gls{map} of 0.5727
for the \emph{Plant} class.
\begin{figure}
\centering
\includegraphics{graphics/APpt5-pt95.pdf}
\caption[Object detection AP@0.5 and AP@0.95.]{Precision-recall
curves for \gls{iou} thresholds of 0.5 and 0.95. The \gls{ap} of a
specific threshold is defined as the area under the
precision-recall curve of that threshold. The \gls{map} across
\gls{iou} thresholds from 0.5 to 0.95 in 0.05 steps
\textsf{mAP}@0.5:0.95 is 0.5727.}
\label{fig:yolo-ap}
\end{figure}
\subsubsection{Hyperparameter Optimization}
\label{sssec:yolo-hyp-opt}
This section should be moved to the hyperparameter optimization
section in the development chapter
(section~\ref{sec:development-detection}).
To further improve the object detection performance, we perform To further improve the object detection performance, we perform
hyper-parameter optimization using a genetic algorithm. Evolution of hyperparameter optimization using a genetic algorithm. Evolution of
the hyper-parameters starts from the initial 30 default values the hyperparameters starts from the initial \num{30} default values
provided by the authors of YOLO. Of those 30 values, 26 are allowed to provided by the authors of \gls{yolo}. Of those \num{30} values,
mutate. During each generation, there is an 80\% chance that a \num{26} are allowed to mutate. During each generation, there is an
mutation occurs with a variance of 0.04. To determine which generation 80\% chance that a mutation occurs with a variance of \num{0.04}. To
should be the parent of the new mutation, all previous generations are determine which generation should be the parent of the new mutation,
ordered by fitness in decreasing order. At most five top generations all previous generations are ordered by fitness in decreasing
are selected and one of them is chosen at random. Better generations order. At most five top generations are selected and one of them is
have a higher chance of being selected as the selection is weighted by chosen at random. Better generations have a higher chance of being
fitness. The parameters of that chosen generation are then mutated selected as the selection is weighted by fitness. The parameters of
with the aforementioned probability and variance. Each generation is that chosen generation are then mutated with the aforementioned
trained for three epochs and the fitness of the best epoch is probability and variance. Each generation is trained for three epochs
recorded. and the fitness of the best epoch is recorded.
In total, we ran 87 iterations of which the 34\textsuperscript{th} In total, we ran \num{87} iterations of which the
generation provides the best fitness of 0.6076. Due to time \num{34}\textsuperscript{th} generation provides the best fitness of
constraints, it was not possible to train each generation for more \num{0.6076}. Due to time constraints, it was not possible to train
epochs or to run more iterations in total. We assume that the each generation for more epochs or to run more iterations in total. We
performance of the first few epochs is a reasonable proxy for model assume that the performance of the first few epochs is a reasonable
performance overall. The optimized version of the object detection proxy for model performance overall. The optimized version of the
model is then trained for 70 epochs using the parameters of the object detection model is then trained for \num{70} epochs using the
34\textsuperscript{th} generation. parameters of the \num{34}\textsuperscript{th} generation.
\begin{figure} \begin{figure}
\centering \centering
\includegraphics{graphics/model_fitness_final.pdf} \includegraphics{graphics/model_fitness_final.pdf}
\caption[Optimized object detection fitness per epoch.]{Object \caption[Optimized object detection fitness per epoch.]{Object
detection model fitness for each epoch calculated as in detection model fitness for each epoch calculated as in
equation~\ref{eq:fitness}. The vertical gray line at 27 marks the equation~\ref{eq:fitness}. The vertical gray line at \num{27}
epoch with the highest fitness of 0.6172.} marks the epoch with the highest fitness of \num{0.6172}.}
\label{fig:hyp-opt-fitness} \label{fig:hyp-opt-fitness}
\end{figure} \end{figure}
Figure~\ref{fig:hyp-opt-fitness} shows the model's fitness during Figure~\ref{fig:hyp-opt-fitness} shows the model's fitness during
training for each epoch. After the highest fitness of 0.6172 at epoch training for each epoch. After the highest fitness of \num{0.6172} at
27, the performance quickly declines and shows that further training epoch \num{27}, the performance quickly declines and shows that
would likely not yield improved results. The model converges to its further training would likely not yield improved results. The model
highest fitness much earlier than the non-optimized version, which converges to its highest fitness much earlier than the non-optimized
indicates that the adjusted parameters provide a better starting point version, which indicates that the adjusted parameters provide a better
in general. Furthermore, the maximum fitness is 0.74\% higher than in starting point in general. Furthermore, the maximum fitness is 0.74
the non-optimized version. percentage points higher than in the non-optimized version.
\begin{figure} \begin{figure}
\centering \centering
@ -2751,7 +2640,7 @@ the non-optimized version.
\caption[Hyper-parameter optimized object detection precision and \caption[Hyper-parameter optimized object detection precision and
recall during training.]{Overall precision and recall during recall during training.]{Overall precision and recall during
training for each epoch of the optimized model. The vertical gray training for each epoch of the optimized model. The vertical gray
line at 27 marks the epoch with the highest fitness.} line at \num{27} marks the epoch with the highest fitness.}
\label{fig:hyp-opt-prec-rec} \label{fig:hyp-opt-prec-rec}
\end{figure} \end{figure}
@ -2766,9 +2655,9 @@ non-optimized version and recall hovers at the same levels.
\includegraphics{graphics/val_box_obj_loss_final.pdf} \includegraphics{graphics/val_box_obj_loss_final.pdf}
\caption[Hyper-parameter optimized object detection box and object \caption[Hyper-parameter optimized object detection box and object
loss.]{Box and object loss measured against the validation set of loss.]{Box and object loss measured against the validation set of
3091 images and 4092 ground truth labels. The class loss is \num{3091} images and \num{4092} ground truth labels. The class
omitted because there is only one class in the dataset and the loss is omitted because there is only one class in the dataset and
loss is therefore always zero.} the loss is therefore always zero.}
\label{fig:hyp-opt-box-obj-loss} \label{fig:hyp-opt-box-obj-loss}
\end{figure} \end{figure}
@ -2777,96 +2666,84 @@ figure~\ref{fig:hyp-opt-box-obj-loss}. Both losses start from a lower
level which suggests that the initial optimized parameters allow the level which suggests that the initial optimized parameters allow the
model to converge quicker. The object loss exhibits a similar slope to model to converge quicker. The object loss exhibits a similar slope to
the non-optimized model in figure~\ref{fig:box-obj-loss}. The vertical the non-optimized model in figure~\ref{fig:box-obj-loss}. The vertical
gray line again marks epoch 27 with the highest fitness. The box loss gray line again marks epoch \num{27} with the highest fitness. The box
reaches its lower limit at that point and the object loss starts to loss reaches its lower limit at that point and the object loss starts
increase again after epoch 27. to increase again after epoch \num{27}.
\begin{table}[h] \section{Classification}
\centering \label{sec:development-classification}
\begin{tabular}{lrrrr}
\toprule
{} & Precision & Recall & $\mathrm{F}_1$-score & Support \\
\midrule
Plant & 0.633358 & 0.702811 & 0.666279 & 12238.0 \\
\bottomrule
\end{tabular}
\caption{Precision, recall and $\mathrm{F}_1$-score for the
optimized object detection model.}
\label{tab:yolo-metrics-hyp}
\end{table}
Turning to the evaluation of the optimized model on the test dataset, The second stage of our approach consists of the classification model
table~\ref{tab:yolo-metrics-hyp} shows precision, recall and the which determines whether the plant in question is water-stressed or
$\mathrm{F}_1$-score for the optimized model. Comparing these metrics not. The classifier receives the cutouts for each plant from stage one
with the non-optimized version from table~\ref{tab:yolo-metrics}, (object detection). We chose a \gls{resnet}-50 model (see
precision is significantly higher by more than 8.5\%. Recall, however, section~\ref{sec:methods-classification}) which has been pretrained on
is 3.5\% lower. The $\mathrm{F}_1$-score is higher by more than 3.7\% ImageNet. We chose the \gls{resnet} architecture due to its popularity
which indicates that the optimized model is better overall despite the and ease of implementation as well as its consistently high
lower recall. We feel that the lower recall value is a suitable trade performance on various classification tasks. While its classification
off for the substantially higher precision considering that the speed in comparison with networks optimized for mobile and edge
non-optimized model's precision is quite low at 0.55. devices (e.g. MobileNet) is significantly lower, the deeper structure
and the additional parameters are necessary for the fairly complex
task at hand. Furthermore, the generous time budget for object
detection \emph{and} classification allows for more accurate results
at the expense of speed. The \num{50} layer architecture
(\gls{resnet}-50) is adequate for our use case. In the following
sections we describe the data set the classifier was trained on, the
metrics of the training phase and how the performance of the model was
further improved with hyperparameter optimization.
The precision-recall curves in figure~\ref{fig:yolo-ap-hyp} for the \subsection{Data Set}
optimized model show that the model draws looser bounding boxes than \label{ssec:class-train-dataset}
the optimized model. The \gls{ap} for both \gls{iou} thresholds of 0.5
and 0.95 is lower indicating worse performance. It is likely that more The data set we used for training the classifier consists of \num{452}
iterations during evolution would help increase the \gls{ap} values as images of healthy and \num{452} stressed plants.
well. Even though the precision and recall values from
table~\ref{tab:yolo-metrics-hyp} are better, the \textsf{mAP}@0.5:0.95 %% TODO: write about data set
is lower by 1.8\%.
The dataset was split 85/15 into training and validation sets. The
images in the training set were augmented with a random crop to arrive
at the expected image dimensions of \num{224} pixels. Additionally,
the training images were modified with a random horizontal flip to
increase the variation in the set and to train a rotation invariant
classifier. All images, regardless of their membership in the training
or validation set, were normalized with the mean and standard
deviation of the ImageNet \cite{deng2009} dataset, which the original
\gls{resnet}-50 model was pretrained with. Training was done for
\num{50} epochs and the best-performing model as measured by
validation accuracy was selected as the final version.
Figure~\ref{fig:classifier-training-metrics} shows accuracy and loss
on the training and validation sets. There is a clear upwards trend
until epoch \num{20} when validation accuracy and loss stabilize at
around \num{0.84} and \num{0.3}, respectively. The quick convergence
and resistance to overfitting can be attributed to the model already
having robust feature extraction capabilities.
\begin{figure} \begin{figure}
\centering \centering
\includegraphics{graphics/APpt5-pt95-final.pdf} \includegraphics{graphics/classifier-metrics.pdf}
\caption[Hyper-parameter optimized object detection AP@0.5 and \caption[Classifier accuracy and loss during training.]{Accuracy and
AP@0.95.]{Precision-recall curves for \gls{iou} thresholds of 0.5 loss during training of the classifier. The model converges
and 0.95. The \gls{ap} of a specific threshold is defined as the quickly, but additional epochs do not cause validation loss to
area under the precision-recall curve of that threshold. The increase, which would indicate overfitting. The maximum validation
\gls{map} across \gls{iou} thresholds from 0.5 to 0.95 in 0.05 accuracy of \num{0.9118} is achieved at epoch \num{27}.}
steps \textsf{mAP}@0.5:0.95 is 0.5546.} \label{fig:classifier-training-metrics}
\label{fig:yolo-ap-hyp}
\end{figure} \end{figure}
\subsection{Classification} \subsection{Hyperparameter Optimization}
\label{ssec:classifier-eval} \label{ssec:class-hypopt}
The classifier receives cutouts from the object detection model and
determines whether the image shows a stressed plant or not. To achieve
this goal, we trained a \gls{resnet} \cite{he2016} on a dataset of 452
images of healthy and 452 stressed plants. We chose the \gls{resnet}
architecture due to its popularity and ease of implementation as well
as its consistently high performance on various classification
tasks. While its classification speed in comparison with networks
optimized for mobile and edge devices (e.g. MobileNet) is
significantly lower, the deeper structure and the additional
parameters are necessary for the fairly complex task at
hand. Furthermore, the generous time budget for object detection
\emph{and} classification allows for more accurate results at the
expense of speed. The architecture allows for multiple different
structures, depending on the amount of layers. The smallest one has 18
and the largest 152 layers with 34, 50 and 101 in-between. The larger
networks have better accuracy in general, but come with trade-offs
regarding training and inference time as well as required space. The
50 layer architecture (\gls{resnet}50) is adequate for our use case.
\subsubsection{Hyperparameter Optimization}
\label{sssec:classifier-hyp-opt}
This section should be moved to the hyperparameter optimization
section in the development chapter
(section~\ref{sec:development-classification}).
In order to improve the aforementioned accuracy values, we perform In order to improve the aforementioned accuracy values, we perform
hyper-parameter optimization across a wide range of hyperparameter optimization across a wide range of
parameters. Table~\ref{tab:classifier-hyps} lists the hyper-parameters parameters. Table~\ref{tab:classifier-hyps} lists the hyperparameters
and their possible values. Since the number of all combinations of and their possible values. Since the number of all combinations of
values is 11520 and each combination is trained for 10 epochs with a values is \num{11520} and each combination is trained for \num{10}
training time of approximately six minutes per combination, exhausting epochs with a training time of approximately six minutes per
the search space would take 48 days. Due to time limitations, we have combination, exhausting the search space would take \num{48} days. Due
chosen to not search exhaustively but to pick random combinations to time limitations, we have chosen to not search exhaustively but to
instead. Random search works surprisingly well---especially compared to pick random combinations instead. Random search works surprisingly
grid search---in a number of domains, one of which is hyper-parameter well---especially compared to grid search---in a number of domains, one of
optimization~\cite{bergstra2012}. which is hyperparameter optimization \cite{bergstra2012}.
\begin{table}[h] \begin{table}[h]
\centering \centering
@ -3010,6 +2887,186 @@ $\mathrm{F}_1$-score of 1 on the training set.
\label{fig:classifier-hyp-folds} \label{fig:classifier-hyp-folds}
\end{figure} \end{figure}
\section{Deployment}
Describe the Jetson Nano, how the model is deployed to the device and
how it reports its results (REST API).
Estimated 2 pages for this section.
\chapter{Evaluation}
\label{chap:evaluation}
The following sections contain a detailed evaluation of the model in
various scenarios. First, we present metrics from the training phases
of the constituent models. Second, we employ methods from the field of
\gls{xai} such as \gls{grad-cam} to get a better understanding of the
models' abstractions. Finally, we turn to the models' aggregate
performance on the test set.
\section{Methodology}
\label{sec:methodology}
Go over the evaluation methodology by explaining the test datasets,
where they come from, and how they're structured. Explain how the
testing phase was done and which metrics are employed to compare the
models to the SOTA.
Estimated 2 pages for this section.
\section{Results}
\label{sec:results}
Systematically go over the results from the testing phase(s), show the
plots and metrics, and explain what they contain.
Estimated 4 pages for this section.
\subsection{Object Detection}
\label{ssec:yolo-eval}
The following parapraph should probably go into
section~\ref{sec:development-detection}.
The object detection model was pre-trained on the COCO~\cite{lin2015}
dataset and fine-tuned with data from the \gls{oid}
\cite{kuznetsova2020} in its sixth version. Since the full \gls{oid}
dataset contains considerably more classes and samples than would be
feasibly trainable on a small cluster of \glspl{gpu}, only images from
the two classes \emph{Plant} and \emph{Houseplant} have been
downloaded. The samples from the Houseplant class are merged into the
Plant class because the distinction between the two is not necessary
for our model. Furthermore, the \gls{oid} contains not only bounding
box annotations for object detection tasks, but also instance
segmentations, classification labels and more. These are not needed
for our purposes and are omitted as well. In total, the dataset
consists of 91479 images with a roughly 85/5/10 split for training,
validation and testing, respectively.
\subsubsection{Test Phase}
\label{sssec:yolo-test}
Of the 91479 images around 10\% were used for the test phase. These
images contain a total of 12238 ground truth
labels. Table~\ref{tab:yolo-metrics} shows precision, recall and the
harmonic mean of both ($\mathrm{F}_1$-score). The results indicate
that the model errs on the side of sensitivity because recall is
higher than precision. Although some detections are not labeled as
plants in the dataset, if there is a labeled plant in the ground truth
data, the chance is high that it will be detected. This behavior is in
line with how the model's detections are handled in practice. The
detections are drawn on the original image and the user is able to
check the bounding boxes visually. If there are wrong detections, the
user can ignore them and focus on the relevant ones instead. A higher
recall will thus serve the user's needs better than a high precision.
\begin{table}[h]
\centering
\begin{tabular}{lrrrr}
\toprule
{} & Precision & Recall & $\mathrm{F}_1$-score & Support \\
\midrule
Plant & 0.547571 & 0.737866 & 0.628633 & 12238.0 \\
\bottomrule
\end{tabular}
\caption{Precision, recall and $\mathrm{F}_1$-score for the object
detection model.}
\label{tab:yolo-metrics}
\end{table}
Figure~\ref{fig:yolo-ap} shows the \gls{ap} for the \gls{iou}
thresholds of 0.5 and 0.95. Predicted bounding boxes with an \gls{iou}
of less than 0.5 are not taken into account for the precision and
recall values of table~\ref{tab:yolo-metrics}. The lower the detection
threshold, the more plants are detected. Conversely, a higher
detection threshold leaves potential plants undetected. The
precision-recall curves confirm this behavior because the area under
the curve for the threshold of 0.5 is higher than for the threshold of
0.95 ($0.66$ versus $0.41$). These values are combined in COCO's
\cite{lin2015} main evaluation metric which is the \gls{ap} averaged
across the \gls{iou} thresholds from 0.5 to 0.95 in 0.05 steps. This
value is then averaged across all classes and called \gls{map}. The
object detection model achieves a state-of-the-art \gls{map} of 0.5727
for the \emph{Plant} class.
\begin{figure}
\centering
\includegraphics{graphics/APpt5-pt95.pdf}
\caption[Object detection AP@0.5 and AP@0.95.]{Precision-recall
curves for \gls{iou} thresholds of 0.5 and 0.95. The \gls{ap} of a
specific threshold is defined as the area under the
precision-recall curve of that threshold. The \gls{map} across
\gls{iou} thresholds from 0.5 to 0.95 in 0.05 steps
\textsf{mAP}@0.5:0.95 is 0.5727.}
\label{fig:yolo-ap}
\end{figure}
\subsubsection{Hyperparameter Optimization}
\label{sssec:yolo-hyp-opt}
This section should be moved to the hyperparameter optimization
section in the development chapter
(section~\ref{sec:development-detection}).
\begin{table}[h]
\centering
\begin{tabular}{lrrrr}
\toprule
{} & Precision & Recall & $\mathrm{F}_1$-score & Support \\
\midrule
Plant & 0.633358 & 0.702811 & 0.666279 & 12238.0 \\
\bottomrule
\end{tabular}
\caption{Precision, recall and $\mathrm{F}_1$-score for the
optimized object detection model.}
\label{tab:yolo-metrics-hyp}
\end{table}
Turning to the evaluation of the optimized model on the test dataset,
table~\ref{tab:yolo-metrics-hyp} shows precision, recall and the
$\mathrm{F}_1$-score for the optimized model. Comparing these metrics
with the non-optimized version from table~\ref{tab:yolo-metrics},
precision is significantly higher by more than 8.5\%. Recall, however,
is 3.5\% lower. The $\mathrm{F}_1$-score is higher by more than 3.7\%
which indicates that the optimized model is better overall despite the
lower recall. We feel that the lower recall value is a suitable trade
off for the substantially higher precision considering that the
non-optimized model's precision is quite low at 0.55.
The precision-recall curves in figure~\ref{fig:yolo-ap-hyp} for the
optimized model show that the model draws looser bounding boxes than
the optimized model. The \gls{ap} for both \gls{iou} thresholds of 0.5
and 0.95 is lower indicating worse performance. It is likely that more
iterations during evolution would help increase the \gls{ap} values as
well. Even though the precision and recall values from
table~\ref{tab:yolo-metrics-hyp} are better, the \textsf{mAP}@0.5:0.95
is lower by 1.8\%.
\begin{figure}
\centering
\includegraphics{graphics/APpt5-pt95-final.pdf}
\caption[Hyper-parameter optimized object detection AP@0.5 and
AP@0.95.]{Precision-recall curves for \gls{iou} thresholds of 0.5
and 0.95. The \gls{ap} of a specific threshold is defined as the
area under the precision-recall curve of that threshold. The
\gls{map} across \gls{iou} thresholds from 0.5 to 0.95 in 0.05
steps \textsf{mAP}@0.5:0.95 is 0.5546.}
\label{fig:yolo-ap-hyp}
\end{figure}
\subsection{Classification}
\label{ssec:classifier-eval}
\subsubsection{Hyperparameter Optimization}
\label{sssec:classifier-hyp-opt}
This section should be moved to the hyperparameter optimization
section in the development chapter
(section~\ref{sec:development-classification}).
\subsubsection{Class Activation Maps} \subsubsection{Class Activation Maps}
\label{sssec:classifier-cam} \label{sssec:classifier-cam}