【YOLOv10多模态融合改进】在前期、中期、中后期、后期多模态融合中添加P2小目标检测层，完整步骤及代码
前言
主题： YOLOv10 的多模态融合改进中增加P2小目标检测层
方式： 分别在前期融合、中期融合、中-后期融合、后期融合中增加P2多模态融合检测层。
内容： 包含融合方式详解以及完整配置步骤，开箱即用，一键运行。
一、YOLOv10原始模型结构介绍
YOLOv10
原始模型结构如下：
# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLOv10 object detection model. For Usage examples see https://docs.ultralytics.com/tasks/detect
# Parameters
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov10n.yaml' will call yolov10.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.33, 0.25, 1024]
backbone:
# [from, repeats, module, args]
- [-1, 1, Conv, [64, 3, 2]] # 0-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 1-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 3-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 5-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 7-P5/32
- [-1, 3, C2f, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 9
- [-1, 1, PSA, [1024]] # 10
# YOLOv10.0n head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 6], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 13
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 4], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 16 (P3/8-small)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 13], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 19 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 10], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True, True]] # 22 (P5/32-large)
- [[16, 19, 22], 1, v10Detect, [nc]] # Detect(P3, P4, P5)
二、有效特征层对应的检测头类别
2.1 P3/8 - small检测头
-
原始模型中的
P3/8特征层对应的检测头主要用于检测相对较小的目标。其特征图大小相对较大，空间分辨率较高。 -
适合检测尺寸大概在
8x8到32x32像素左右的目标。
2.2 P4/16 - medium检测头
-
这个检测头对应的
P4/16特征层经过了更多的下采样操作，相比P3/8特征图空间分辨率降低，但通道数增加，特征更抽象且有语义信息。 -
它主要用于检测中等大小的目标，尺寸范围大概在
32x32到64x64像素左右。
2.3 P5/32 - large检测头
-
P5/32是经过最多下采样操作得到的特征层，其空间分辨率最低，但语义信息最强、全局感受野最大。 -
该检测头适合检测较大尺寸的目标，一般是尺寸在
64x64像素以上的目标。
2.4 新添加针对小目标的检测头
-
新添加的检测头主要用于检测更小尺寸的目标。尺寸在
4x4到8x8像素左右的微小目标。
💡这是因为在目标检测任务中，随着目标尺寸的减小，需要更高分辨率的特征图来有效捕捉目标特征。新添加的检测头很可能是基于这样的考虑，通过一系列的卷积、上采样和拼接等操作生成适合微小目标检测的特征图，从而提高模型对微小目标的检测能力。
三、小目标检测头多模态融合方式
-
前期融合中，在网络输入阶段将多模态数据合并后，增加针对小目标的检测层。
-
中期融合中，在骨干网络中增加针对P2的多模态特征进行融合，以此引出小目标的检测层。
-
中-后期融合中，在颈部的FPN结构中，增加针对P2的多模态特征进行融合，以此引出小目标的检测层。
-
后期融合中，在检测头前增加P2多模态特征进行融合。
四、完整配置步骤
！！！ 私信获取的项目包就已经把相关的多模态输入、训练等改动都已经配好了，只需要新建模型yaml文件，粘贴对应的模型，进行训练即可。 项目包获取及使用教程可参考链接： 《YOLO系列模型的多模态项目》配置使用教程
在什么地方新建，n,s,m,l,x,用哪个版本按自己的需求来即可，和普通的训练步骤一致。
除了模型结构方面的改动，在yaml文件中还传入了一个通道数
ch: 6
表示传入的是双模态，6通道 ，前三个是可见光，后三个是红外。
在default.yaml中也配置了这个参数。
4.1 P2前期融合
# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLOv10 object detection model. For Usage examples see https://docs.ultralytics.com/tasks/detect
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov10n.yaml' will call yolov10.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.33, 0.25, 1024]
backbone:
# [from, repeats, module, args]
- [-1, 1, MF, [64]] # 0
- [-1, 1, Conv, [64, 3, 2]] # 1-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 2-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 4-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 6-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 8-P5/32
- [-1, 3, C2f, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 10
- [-1, 1, PSA, [1024]] # 11
# YOLOv10.0n head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 7], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 14
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 5], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 17 (P3/8-small)
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 3], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [128]] # 20 (P3/8-small)
- [-1, 1, Conv, [128, 3, 2]]
- [[-1, 17], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [256]] # 23 (P4/16-medium)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 14], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 26 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 11], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True, True]] # 29 (P5/32-large)
- [[20, 23, 26, 29], 1, v10Detect, [nc]] # Detect(P3, P4, P5)
4.2 P2中期融合
# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLOv10 object detection model. For Usage examples see https://docs.ultralytics.com/tasks/detect
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov10n.yaml' will call yolov10.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.33, 0.25, 1024]
backbone:
# [from, repeats, module, args]
- [-1, 1, IN, []] # 0
- [-1, 1, Multiin, [1]] # 1
- [-2, 1, Multiin, [2]] # 2
- [1, 1, Conv, [64, 3, 2]] # 3-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 4-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 6-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 8-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 10-P5/32
- [-1, 3, C2f, [1024, True]]
- [2, 1, Conv, [64, 3, 2]] # 12-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 13-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 15-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 17-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 19-P5/32
- [-1, 3, C2f, [1024, True]]
- [[5, 14], 1, Concat, [1]] # 21 cat backbone P2
- [[7, 16], 1, Concat, [1]] # 22 cat backbone P3
- [[9, 18], 1, Concat, [1]] # 23 cat backbone P4
- [[11, 20], 1, Concat, [1]] # 24 cat backbone P5
- [-1, 1, SPPF, [1024, 5]] # 25
- [-1, 1, PSA, [1024]] # 26
# YOLOv10.0n head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 23], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 29
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 22], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 32
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 21], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 35 (P2/4-xsmall)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 32], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 38 (P3/8-small)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 29], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 41 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 26], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True, True]] # 44 (P5/32-large)
- [[35, 38, 41, 44], 1, v10Detect, [nc]] # Detect(P3, P4, P5)
4.3 P2中-后期融合
# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLOv10 object detection model. For Usage examples see https://docs.ultralytics.com/tasks/detect
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov10n.yaml' will call yolov10.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.33, 0.25, 1024]
backbone:
# [from, repeats, module, args]
- [-1, 1, IN, []] # 0
- [-1, 1, Multiin, [1]] # 1
- [-2, 1, Multiin, [2]] # 2
- [1, 1, Conv, [64, 3, 2]] # 3-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 4-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 6-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 8-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 10-P5/32
- [-1, 3, C2f, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 12
- [-1, 1, PSA, [1024]] # 13
- [2, 1, Conv, [64, 3, 2]] # 14-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 15-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 17-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 19-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 21-P5/32
- [-1, 3, C2f, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 23
- [-1, 1, PSA, [1024]] # 24
# YOLOv10.0n head
head:
- [13, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 9], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 27
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 7], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 30 (P3/8-small)
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 5], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [128]] # 33 (P3/8-small)
- [24, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 20], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 36
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 18], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 39 (P3/8-small)
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 16], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [128]] # 42 (P3/8-small)
- [[13, 24], 1, Concat, [1]] # 43 cat backbone P2
- [[27, 36], 1, Concat, [1]] # 44 cat backbone P3
- [[30, 39], 1, Concat, [1]] # 45 cat backbone P4
- [[33, 42], 1, Concat, [1]] # 46 cat backbone P5
- [-1, 1, Conv, [128, 3, 2]]
- [[-1, 45], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [256]] # 49 (P4/16-medium)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 44], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 52 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 43], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True, True]] # 55 (P5/32-large)
- [[46, 49, 52, 55], 1, v10Detect, [nc]] # Detect(P3, P4, P5)
4.4 P2后期融合
# Ultralytics YOLO 🚀, AGPL-3.0 license
# YOLOv10 object detection model. For Usage examples see https://docs.ultralytics.com/tasks/detect
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov10n.yaml' will call yolov10.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.33, 0.25, 1024]
backbone:
# [from, repeats, module, args]
- [-1, 1, IN, []] # 0
- [-1, 1, Multiin, [1]] # 1
- [-2, 1, Multiin, [2]] # 2
- [1, 1, Conv, [64, 3, 2]] # 3-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 4-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 6-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 8-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 10-P5/32
- [-1, 3, C2f, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 12
- [-1, 1, PSA, [1024]] # 13
- [2, 1, Conv, [64, 3, 2]] # 14-P1/2
- [-1, 1, Conv, [128, 3, 2]] # 15-P2/4
- [-1, 3, C2f, [128, True]]
- [-1, 1, Conv, [256, 3, 2]] # 17-P3/8
- [-1, 6, C2f, [256, True]]
- [-1, 1, SCDown, [512, 3, 2]] # 19-P4/16
- [-1, 6, C2f, [512, True]]
- [-1, 1, SCDown, [1024, 3, 2]] # 21-P5/32
- [-1, 3, C2f, [1024, True]]
- [-1, 1, SPPF, [1024, 5]] # 23
- [-1, 1, PSA, [1024]] # 24
# YOLOv10.0n head
head:
- [13, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 9], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 27
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 7], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 30
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 5], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [128]] # 33 (P2/4-xsmall)
- [-1, 1, Conv, [128, 3, 2]]
- [[-1, 30], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [256]] # 36 (P3/8-small)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 27], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 39 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 13], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True, True]] # 42 (P5/32-large)
- [24, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 20], 1, Concat, [1]] # cat backbone P4
- [-1, 3, C2f, [512]] # 45
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 18], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 48
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 16], 1, Concat, [1]] # cat backbone P3
- [-1, 3, C2f, [256]] # 51 (P2/4-xsmall)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 48], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 54 (P3/8-small)
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 45], 1, Concat, [1]] # cat head P4
- [-1, 3, C2f, [512]] # 57 (P4/16-medium)
- [-1, 1, SCDown, [512, 3, 2]]
- [[-1, 24], 1, Concat, [1]] # cat head P5
- [-1, 3, C2fCIB, [1024, True, True]] # 60 (P5/32-large)
- [[33, 51], 1, Concat, [1]] # 61 cat backbone P2
- [[36, 54], 1, Concat, [1]] # 62 cat backbone P3
- [[39, 57], 1, Concat, [1]] # 63 cat backbone P4
- [[42, 60], 1, Concat, [1]] # 64 cat backbone P5
- [[61, 62, 63, 64], 1, v10Detect, [nc]] # Detect(P3, P4, P5)
五、成功运行结果
前期融合结果： 可以看到输入的通道数为6，表明可见光图像和红外图像均输入到了模型中进行融合训练。
YOLOv10n-early-p2 summary: 482 layers, 2,834,640 parameters, 2,834,624 gradients, 16.4 GFLOPs
from n params module arguments
0 -1 1 472 ultralytics.nn.AddModules.multimodal.MF [6, 16]
1 -1 1 2336 ultralytics.nn.modules.conv.Conv [16, 16, 3, 2]
2 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
3 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
4 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
5 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
6 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
7 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
8 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
9 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
10 -1 1 164608 ultralytics.nn.modules.block.SPPF [256, 256, 5]
11 -1 1 249728 ultralytics.nn.modules.block.PSA [256, 256]
12 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
13 [-1, 7] 1 0 ultralytics.nn.modules.conv.Concat [1]
14 -1 1 148224 ultralytics.nn.modules.block.C2f [384, 128, 1]
15 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
16 [-1, 5] 1 0 ultralytics.nn.modules.conv.Concat [1]
17 -1 1 37248 ultralytics.nn.modules.block.C2f [192, 64, 1]
18 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
19 [-1, 3] 1 0 ultralytics.nn.modules.conv.Concat [1]
20 -1 1 9408 ultralytics.nn.modules.block.C2f [96, 32, 1]
21 -1 1 9280 ultralytics.nn.modules.conv.Conv [32, 32, 3, 2]
22 [-1, 17] 1 0 ultralytics.nn.modules.conv.Concat [1]
23 -1 1 31104 ultralytics.nn.modules.block.C2f [96, 64, 1]
24 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
25 [-1, 14] 1 0 ultralytics.nn.modules.conv.Concat [1]
26 -1 1 123648 ultralytics.nn.modules.block.C2f [192, 128, 1]
27 -1 1 18048 ultralytics.nn.modules.block.SCDown [128, 128, 3, 2]
28 [-1, 11] 1 0 ultralytics.nn.modules.conv.Concat [1]
29 -1 1 282624 ultralytics.nn.modules.block.C2fCIB [384, 256, 1, True, True]
30 [20, 23, 26, 29] 1 936792 ultralytics.nn.modules.head.v10Detect [1, [32, 64, 128, 256]]
YOLOv10n-early-p2 summary: 482 layers, 2,834,640 parameters, 2,834,624 gradients, 16.4 GFLOPs
中期融合结果：
YOLOv10n-mid-p2 summary: 575 layers, 4,224,056 parameters, 4,224,040 gradients, 25.5 GFLOPs
from n params module arguments
0 -1 1 0 ultralytics.nn.AddModules.multimodal.IN []
1 -1 1 0 ultralytics.nn.AddModules.multimodal.Multiin [1]
2 -2 1 0 ultralytics.nn.AddModules.multimodal.Multiin [2]
3 1 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
4 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
5 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
6 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
7 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
8 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
9 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
10 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
11 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
12 2 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
13 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
14 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
15 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
16 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
17 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
18 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
19 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
20 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
21 [5, 14] 1 0 ultralytics.nn.modules.conv.Concat [1]
22 [7, 16] 1 0 ultralytics.nn.modules.conv.Concat [1]
23 [9, 18] 1 0 ultralytics.nn.modules.conv.Concat [1]
24 [11, 20] 1 0 ultralytics.nn.modules.conv.Concat [1]
25 -1 1 394240 ultralytics.nn.modules.block.SPPF [512, 256, 5]
26 -1 1 249728 ultralytics.nn.modules.block.PSA [256, 256]
27 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
28 [-1, 23] 1 0 ultralytics.nn.modules.conv.Concat [1]
29 -1 1 164608 ultralytics.nn.modules.block.C2f [512, 128, 1]
30 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
31 [-1, 22] 1 0 ultralytics.nn.modules.conv.Concat [1]
32 -1 1 41344 ultralytics.nn.modules.block.C2f [256, 64, 1]
33 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
34 [-1, 21] 1 0 ultralytics.nn.modules.conv.Concat [1]
35 -1 1 33152 ultralytics.nn.modules.block.C2f [128, 64, 1]
36 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
37 [-1, 32] 1 0 ultralytics.nn.modules.conv.Concat [1]
38 -1 1 115456 ultralytics.nn.modules.block.C2f [128, 128, 1]
39 -1 1 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
40 [-1, 29] 1 0 ultralytics.nn.modules.conv.Concat [1]
41 -1 1 123648 ultralytics.nn.modules.block.C2f [192, 128, 1]
42 -1 1 18048 ultralytics.nn.modules.block.SCDown [128, 128, 3, 2]
43 [-1, 26] 1 0 ultralytics.nn.modules.conv.Concat [1]
44 -1 1 282624 ultralytics.nn.modules.block.C2fCIB [384, 256, 1, True, True]
45 [35, 38, 41, 44] 1 1121176 ultralytics.nn.modules.head.v10Detect [1, [64, 128, 128, 256]]
YOLOv10n-mid-p2 summary: 575 layers, 4,224,056 parameters, 4,224,040 gradients, 25.5 GFLOPs
中-后期融合结果：
YOLOv10n-mid-to-late-p2 summary: 662 layers, 4,422,392 parameters, 4,422,376 gradients, 23.4 GFLOPs
from n params module arguments
0 -1 1 0 ultralytics.nn.AddModules.multimodal.IN []
1 -1 1 0 ultralytics.nn.AddModules.multimodal.Multiin [1]
2 -2 1 0 ultralytics.nn.AddModules.multimodal.Multiin [2]
3 1 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
4 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
5 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
6 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
7 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
8 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
9 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
10 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
11 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
12 -1 1 164608 ultralytics.nn.modules.block.SPPF [256, 256, 5]
13 -1 1 249728 ultralytics.nn.modules.block.PSA [256, 256]
14 2 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
15 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
16 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
17 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
18 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
19 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
20 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
21 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
22 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
23 -1 1 164608 ultralytics.nn.modules.block.SPPF [256, 256, 5]
24 -1 1 249728 ultralytics.nn.modules.block.PSA [256, 256]
25 13 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
26 [-1, 9] 1 0 ultralytics.nn.modules.conv.Concat [1]
27 -1 1 148224 ultralytics.nn.modules.block.C2f [384, 128, 1]
28 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
29 [-1, 7] 1 0 ultralytics.nn.modules.conv.Concat [1]
30 -1 1 37248 ultralytics.nn.modules.block.C2f [192, 64, 1]
31 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
32 [-1, 5] 1 0 ultralytics.nn.modules.conv.Concat [1]
33 -1 1 9408 ultralytics.nn.modules.block.C2f [96, 32, 1]
34 24 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
35 [-1, 20] 1 0 ultralytics.nn.modules.conv.Concat [1]
36 -1 1 148224 ultralytics.nn.modules.block.C2f [384, 128, 1]
37 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
38 [-1, 18] 1 0 ultralytics.nn.modules.conv.Concat [1]
39 -1 1 37248 ultralytics.nn.modules.block.C2f [192, 64, 1]
40 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
41 [-1, 16] 1 0 ultralytics.nn.modules.conv.Concat [1]
42 -1 1 9408 ultralytics.nn.modules.block.C2f [96, 32, 1]
43 [13, 24] 1 0 ultralytics.nn.modules.conv.Concat [1]
44 [27, 36] 1 0 ultralytics.nn.modules.conv.Concat [1]
45 [30, 39] 1 0 ultralytics.nn.modules.conv.Concat [1]
46 [33, 42] 1 0 ultralytics.nn.modules.conv.Concat [1]
47 -1 1 18496 ultralytics.nn.modules.conv.Conv [64, 32, 3, 2]
48 [-1, 45] 1 0 ultralytics.nn.modules.conv.Concat [1]
49 -1 1 35200 ultralytics.nn.modules.block.C2f [160, 64, 1]
50 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
51 [-1, 44] 1 0 ultralytics.nn.modules.conv.Concat [1]
52 -1 1 140032 ultralytics.nn.modules.block.C2f [320, 128, 1]
53 -1 1 18048 ultralytics.nn.modules.block.SCDown [128, 128, 3, 2]
54 [-1, 43] 1 0 ultralytics.nn.modules.conv.Concat [1]
55 -1 1 348160 ultralytics.nn.modules.block.C2fCIB [640, 256, 1, True, True]
56 [46, 49, 52, 55] 1 1037848 ultralytics.nn.modules.head.v10Detect [1, [64, 64, 128, 256]]
YOLOv10n-mid-to-late-p2 summary: 662 layers, 4,422,392 parameters, 4,422,376 gradients, 23.4 GFLOPs
后期融合结果：
YOLOv10n-late-p2 summary: 741 layers, 5,820,408 parameters, 5,820,392 gradients, 33.6 GFLOPs
from n params module arguments
0 -1 1 0 ultralytics.nn.AddModules.multimodal.IN []
1 -1 1 0 ultralytics.nn.AddModules.multimodal.Multiin [1]
2 -2 1 0 ultralytics.nn.AddModules.multimodal.Multiin [2]
3 1 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
4 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
5 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
6 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
7 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
8 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
9 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
10 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
11 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
12 -1 1 164608 ultralytics.nn.modules.block.SPPF [256, 256, 5]
13 -1 1 249728 ultralytics.nn.modules.block.PSA [256, 256]
14 2 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
15 -1 1 4672 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2]
16 -1 1 7360 ultralytics.nn.modules.block.C2f [32, 32, 1, True]
17 -1 1 18560 ultralytics.nn.modules.conv.Conv [32, 64, 3, 2]
18 -1 2 49664 ultralytics.nn.modules.block.C2f [64, 64, 2, True]
19 -1 1 9856 ultralytics.nn.modules.block.SCDown [64, 128, 3, 2]
20 -1 2 197632 ultralytics.nn.modules.block.C2f [128, 128, 2, True]
21 -1 1 36096 ultralytics.nn.modules.block.SCDown [128, 256, 3, 2]
22 -1 1 460288 ultralytics.nn.modules.block.C2f [256, 256, 1, True]
23 -1 1 164608 ultralytics.nn.modules.block.SPPF [256, 256, 5]
24 -1 1 249728 ultralytics.nn.modules.block.PSA [256, 256]
25 13 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
26 [-1, 9] 1 0 ultralytics.nn.modules.conv.Concat [1]
27 -1 1 148224 ultralytics.nn.modules.block.C2f [384, 128, 1]
28 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
29 [-1, 7] 1 0 ultralytics.nn.modules.conv.Concat [1]
30 -1 1 37248 ultralytics.nn.modules.block.C2f [192, 64, 1]
31 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
32 [-1, 5] 1 0 ultralytics.nn.modules.conv.Concat [1]
33 -1 1 9408 ultralytics.nn.modules.block.C2f [96, 32, 1]
34 -1 1 9280 ultralytics.nn.modules.conv.Conv [32, 32, 3, 2]
35 [-1, 30] 1 0 ultralytics.nn.modules.conv.Concat [1]
36 -1 1 31104 ultralytics.nn.modules.block.C2f [96, 64, 1]
37 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
38 [-1, 27] 1 0 ultralytics.nn.modules.conv.Concat [1]
39 -1 1 123648 ultralytics.nn.modules.block.C2f [192, 128, 1]
40 -1 1 18048 ultralytics.nn.modules.block.SCDown [128, 128, 3, 2]
41 [-1, 13] 1 0 ultralytics.nn.modules.conv.Concat [1]
42 -1 1 282624 ultralytics.nn.modules.block.C2fCIB [384, 256, 1, True, True]
43 24 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
44 [-1, 20] 1 0 ultralytics.nn.modules.conv.Concat [1]
45 -1 1 148224 ultralytics.nn.modules.block.C2f [384, 128, 1]
46 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
47 [-1, 18] 1 0 ultralytics.nn.modules.conv.Concat [1]
48 -1 1 37248 ultralytics.nn.modules.block.C2f [192, 64, 1]
49 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
50 [-1, 16] 1 0 ultralytics.nn.modules.conv.Concat [1]
51 -1 1 31104 ultralytics.nn.modules.block.C2f [96, 64, 1]
52 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
53 [-1, 48] 1 0 ultralytics.nn.modules.conv.Concat [1]
54 -1 1 115456 ultralytics.nn.modules.block.C2f [128, 128, 1]
55 -1 1 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
56 [-1, 45] 1 0 ultralytics.nn.modules.conv.Concat [1]
57 -1 1 123648 ultralytics.nn.modules.block.C2f [192, 128, 1]
58 -1 1 18048 ultralytics.nn.modules.block.SCDown [128, 128, 3, 2]
59 [-1, 24] 1 0 ultralytics.nn.modules.conv.Concat [1]
60 -1 1 282624 ultralytics.nn.modules.block.C2fCIB [384, 256, 1, True, True]
61 [33, 51] 1 0 ultralytics.nn.modules.conv.Concat [1]
62 [36, 54] 1 0 ultralytics.nn.modules.conv.Concat [1]
63 [39, 57] 1 0 ultralytics.nn.modules.conv.Concat [1]
64 [42, 60] 1 0 ultralytics.nn.modules.conv.Concat [1]
65 [61, 62, 63, 64] 1 1858776 ultralytics.nn.modules.head.v10Detect [1, [96, 192, 256, 512]]
YOLOv10n-late-p2 summary: 741 layers, 5,820,408 parameters, 5,820,392 gradients, 33.6 GFLOPs