【YOLOv12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P6大目标检测层，完整步骤及代码
前言
主题： YOLOv12 的多模态融合改进中增加P6大目标检测层
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P6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、YOLOv12原始模型结构介绍
YOLOv12
原始模型结构如下：
# YOLOv12 🚀, AGPL-3.0 license
# YOLOv12 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect
# CFG file for YOLOv12-turbo
# Parameters
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov12n.yaml' will call yolov12.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.50, 0.25, 1024] # summary: 497 layers, 2,553,904 parameters, 2,553,888 gradients, 6.2 GFLOPs
s: [0.50, 0.50, 1024] # summary: 497 layers, 9,127,424 parameters, 9,127,408 gradients, 19.7 GFLOPs
m: [0.50, 1.00, 512] # summary: 533 layers, 19,670,784 parameters, 19,670,768 gradients, 60.4 GFLOPs
l: [1.00, 1.00, 512] # summary: 895 layers, 26,506,496 parameters, 26,506,480 gradients, 83.3 GFLOPs
x: [1.00, 1.50, 512] # summary: 895 layers, 59,414,176 parameters, 59,414,160 gradients, 185.9 GFLOPs
# YOLO12 backbone
backbone:
# [from, repeats, module, args]
- [-1, 1, Conv, [64, 3, 2]] # 0-P1/2
- [-1, 1, Conv, [128, 3, 2, 1, 2]] # 1-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 3-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 5-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [1024, 3, 2]] # 7-P5/32
- [-1, 4, A2C2f, [1024, True, 1]] # 8
# YOLO12 head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 6], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [512, False, -1]] # 11
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 4], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 14
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 11], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [512, False, -1]] # 17
- [-1, 1, Conv, [512, 3, 2]]
- [[-1, 8], 1, Concat, [1]] # cat head P5
- [-1, 2, C3k2, [1024, True]] # 20 (P5/32-large)
- [[14, 17, 20], 1, Detect, [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16x16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
16x16到32x32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
32x32像素以上的目标。
2.4 新添加针对大目标的检测头
-
新添加的检测头主要用于检测更大尺寸的目标。尺寸在
64x64像素以上的超大目标。
💡这是因为在目标检测任务中，随着目标尺寸的增大，需要更能关注到整体轮廓的特征图来有效捕捉大目标特征。
三、P6检测层的多模态融合方式
-
前期融合中，在网络输入阶段将多模态数据合并后，增加针对大目标的检测层。
-
中期融合中，在骨干网络中增加针对P6的多模态特征进行融合，以此引出大目标的检测层。
-
中-后期融合中，在颈部的FPN结构中，增加针对P6的多模态特征进行融合，以此引出大目标的检测层。
-
后期融合中，在检测头前增加P6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 P6前期融合
# YOLOv12 🚀, AGPL-3.0 license
# YOLOv12 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect
# CFG file for YOLOv12-turbo
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov12n.yaml' will call yolov12.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.50, 0.25, 1024] # summary: 497 layers, 2,553,904 parameters, 2,553,888 gradients, 6.2 GFLOPs
s: [0.50, 0.50, 1024] # summary: 497 layers, 9,127,424 parameters, 9,127,408 gradients, 19.7 GFLOPs
m: [0.50, 1.00, 512] # summary: 533 layers, 19,670,784 parameters, 19,670,768 gradients, 60.4 GFLOPs
l: [1.00, 1.00, 512] # summary: 895 layers, 26,506,496 parameters, 26,506,480 gradients, 83.3 GFLOPs
x: [1.00, 1.50, 512] # summary: 895 layers, 59,414,176 parameters, 59,414,160 gradients, 185.9 GFLOPs
# YOLO12 backbone
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, 1, 2]] # 2-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 4-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 6-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 8-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 10-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 11
# YOLO12 head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 9], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [768, False, -1]] # 14
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 7], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [512, False, -1]] # 17
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 5], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 20
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 17], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [512, False, -1]] # 23
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 14], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [768, False, -1]] # 26
- [-1, 1, Conv, [512, 3, 2]]
- [[-1, 11], 1, Concat, [1]] # cat head P5
- [-1, 2, C3k2, [1024, True]] # 29 (P5/32-large)
- [[20, 23, 26, 29], 1, Detect, [nc]] # Detect(P3, P4, P5)
4.2 P6中期融合
# YOLOv12 🚀, AGPL-3.0 license
# YOLOv12 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect
# CFG file for YOLOv12-turbo
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov12n.yaml' will call yolov12.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.50, 0.25, 1024] # summary: 497 layers, 2,553,904 parameters, 2,553,888 gradients, 6.2 GFLOPs
s: [0.50, 0.50, 1024] # summary: 497 layers, 9,127,424 parameters, 9,127,408 gradients, 19.7 GFLOPs
m: [0.50, 1.00, 512] # summary: 533 layers, 19,670,784 parameters, 19,670,768 gradients, 60.4 GFLOPs
l: [1.00, 1.00, 512] # summary: 895 layers, 26,506,496 parameters, 26,506,480 gradients, 83.3 GFLOPs
x: [1.00, 1.50, 512] # summary: 895 layers, 59,414,176 parameters, 59,414,160 gradients, 185.9 GFLOPs
# YOLO12 backbone
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, 1, 2]] # 4-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 6-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 8-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 10-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 12-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 13
- [2, 1, Conv, [64, 3, 2]] # 14-P1/2
- [-1, 1, Conv, [128, 3, 2, 1, 2]] # 15-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 17-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 19-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 21-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 23-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 24
- [[7, 18], 1, Concat, [1]] # 25 cat backbone P2
- [[9, 20], 1, Concat, [1]] # 26 cat backbone P3
- [[11, 22], 1, Concat, [1]] # 27 cat backbone P4
- [[13, 24], 1, Concat, [1]] # 28 cat backbone P5
# YOLO12 head
head:
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 27], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [768, False, -1]] # 31
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 26], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [512, False, -1]] # 34
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 25], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 37
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 34], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [512, False, -1]] # 40
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 31], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [768, False, -1]] # 43
- [-1, 1, Conv, [512, 3, 2]]
- [[-1, 28], 1, Concat, [1]] # cat head P5
- [-1, 2, C3k2, [1024, True]] # 46 (P5/32-large)
- [[37, 40, 43, 46], 1, Detect, [nc]] # Detect(P3, P4, P5)
4.3 P6中-后期融合
# YOLOv12 🚀, AGPL-3.0 license
# YOLOv12 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect
# CFG file for YOLOv12-turbo
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov12n.yaml' will call yolov12.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.50, 0.25, 1024] # summary: 497 layers, 2,553,904 parameters, 2,553,888 gradients, 6.2 GFLOPs
s: [0.50, 0.50, 1024] # summary: 497 layers, 9,127,424 parameters, 9,127,408 gradients, 19.7 GFLOPs
m: [0.50, 1.00, 512] # summary: 533 layers, 19,670,784 parameters, 19,670,768 gradients, 60.4 GFLOPs
l: [1.00, 1.00, 512] # summary: 895 layers, 26,506,496 parameters, 26,506,480 gradients, 83.3 GFLOPs
x: [1.00, 1.50, 512] # summary: 895 layers, 59,414,176 parameters, 59,414,160 gradients, 185.9 GFLOPs
# YOLO12 backbone
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, 1, 2]] # 4-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 6-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 8-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 10-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 12-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 13
- [2, 1, Conv, [64, 3, 2]] # 14-P1/2
- [-1, 1, Conv, [128, 3, 2, 1, 2]] # 15-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 17-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 19-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 21-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 23-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 24
# YOLO12 head
head:
- [13, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 11], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [768, False, -1]] # 27
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 9], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [512, False, -1]] # 30
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 7], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 33
- [24, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 22], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [768, False, -1]] # 36
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 20], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [512, False, -1]] # 39
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 18], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 42
- [[13, 24], 1, Concat, [1]] # cat head P2 43
- [[27, 36], 1, Concat, [1]] # cat head P3 44
- [[30, 39], 1, Concat, [1]] # cat head P4 45
- [[33, 42], 1, Concat, [1]] # cat head P5 46
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 45], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [512, False, -1]] # 49
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 44], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [768, False, -1]] # 52
- [-1, 1, Conv, [512, 3, 2]]
- [[-1, 43], 1, Concat, [1]] # cat head P5
- [-1, 2, C3k2, [1024, True]] # 55 (P5/32-large)
- [[46, 49, 52, 55], 1, Detect, [nc]] # Detect(P3, P4, P5)
4.4 P6后期融合
# YOLOv12 🚀, AGPL-3.0 license
# YOLOv12 object detection model with P3-P5 outputs. For Usage examples see https://docs.ultralytics.com/tasks/detect
# CFG file for YOLOv12-turbo
# Parameters
ch: 6
nc: 80 # number of classes
scales: # model compound scaling constants, i.e. 'model=yolov12n.yaml' will call yolov12.yaml with scale 'n'
# [depth, width, max_channels]
n: [0.50, 0.25, 1024] # summary: 497 layers, 2,553,904 parameters, 2,553,888 gradients, 6.2 GFLOPs
s: [0.50, 0.50, 1024] # summary: 497 layers, 9,127,424 parameters, 9,127,408 gradients, 19.7 GFLOPs
m: [0.50, 1.00, 512] # summary: 533 layers, 19,670,784 parameters, 19,670,768 gradients, 60.4 GFLOPs
l: [1.00, 1.00, 512] # summary: 895 layers, 26,506,496 parameters, 26,506,480 gradients, 83.3 GFLOPs
x: [1.00, 1.50, 512] # summary: 895 layers, 59,414,176 parameters, 59,414,160 gradients, 185.9 GFLOPs
# YOLO12 backbone
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, 1, 2]] # 4-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 6-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 8-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 10-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 12-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 13
- [2, 1, Conv, [64, 3, 2]] # 14-P1/2
- [-1, 1, Conv, [128, 3, 2, 1, 2]] # 15-P2/4
- [-1, 2, C3k2, [256, False, 0.25]]
- [-1, 1, Conv, [256, 3, 2, 1, 4]] # 17-P3/8
- [-1, 2, C3k2, [512, False, 0.25]]
- [-1, 1, Conv, [512, 3, 2]] # 19-P4/16
- [-1, 4, A2C2f, [512, True, 4]]
- [-1, 1, Conv, [768, 3, 2]] # 21-P5/32
- [-1, 4, A2C2f, [768, True, 1]]
- [-1, 1, Conv, [1024, 3, 2]] # 23-P6/64
- [-1, 4, A2C2f, [1024, True, 1]] # 24
# YOLO12 head
head:
- [13, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 11], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [768, False, -1]] # 27
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 9], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [512, False, -1]] # 30
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 7], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 33
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 30], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [512, False, -1]] # 36
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 27], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [768, False, -1]] # 39
- [-1, 1, Conv, [512, 3, 2]]
- [[-1, 13], 1, Concat, [1]] # cat head P5
- [-1, 2, C3k2, [1024, True]] # 42 (P5/32-large)
- [24, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 22], 1, Concat, [1]] # cat backbone P4
- [-1, 2, A2C2f, [768, False, -1]] # 45
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 20], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [512, False, -1]] # 48
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
- [[-1, 18], 1, Concat, [1]] # cat backbone P3
- [-1, 2, A2C2f, [256, False, -1]] # 51
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 48], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [512, False, -1]] # 54
- [-1, 1, Conv, [256, 3, 2]]
- [[-1, 45], 1, Concat, [1]] # cat head P4
- [-1, 2, A2C2f, [768, False, -1]] # 57
- [-1, 1, Conv, [512, 3, 2]]
- [[-1, 24], 1, Concat, [1]] # cat head P5
- [-1, 2, C3k2, [1024, True]] # 60 (P5/32-large)
- [[33, 51], 1, Concat, [1]] # cat head P2 61
- [[36, 54], 1, Concat, [1]] # cat head P3 62
- [[39, 57], 1, Concat, [1]] # cat head P4 63
- [[42, 60], 1, Concat, [1]] # cat head P5 64
- [[61, 62, 63, 64], 1, Detect, [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。
YOLOv12-early-p6 summary: 676 layers, 3,965,468 parameters, 3,965,452 gradients, 6.7 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 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
3 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
4 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
5 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
6 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
7 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
8 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
9 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
10 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
11 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
12 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
13 [-1, 9] 1 0 ultralytics.nn.modules.conv.Concat [1]
14 -1 1 182592 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 192, 1, False, -1]
15 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
16 [-1, 7] 1 0 ultralytics.nn.modules.conv.Concat [1]
17 -1 1 82816 ultralytics.nn.AddModules.A2C2f.A2C2f [320, 128, 1, False, -1]
18 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
19 [-1, 5] 1 0 ultralytics.nn.modules.conv.Concat [1]
20 -1 1 24000 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 64, 1, False, -1]
21 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
22 [-1, 17] 1 0 ultralytics.nn.modules.conv.Concat [1]
23 -1 1 74624 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 128, 1, False, -1]
24 -1 1 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
25 [-1, 14] 1 0 ultralytics.nn.modules.conv.Concat [1]
26 -1 1 164160 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 192, 1, False, -1]
27 -1 1 221440 ultralytics.nn.modules.conv.Conv [192, 128, 3, 2]
28 [-1, 11] 1 0 ultralytics.nn.modules.conv.Concat [1]
29 -1 1 378880 ultralytics.nn.modules.block.C3k2 [384, 256, 1, True]
30 [20, 23, 26, 29] 1 602260 ultralytics.nn.modules.head.Detect [1, [64, 128, 192, 256]]
YOLOv12-early-p6 summary: 676 layers, 3,965,468 parameters, 3,965,452 gradients, 6.7 GFLOPs
中期融合结果：
YOLOv12-mid-p6 summary: 1,012 layers, 6,205,460 parameters, 6,205,444 gradients, 8.9 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 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
5 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
6 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
7 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
8 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
9 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
10 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
11 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
12 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
13 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
14 2 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
15 -1 1 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
16 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
17 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
18 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
19 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
20 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
21 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
22 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
23 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
24 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
25 [7, 18] 1 0 ultralytics.nn.modules.conv.Concat [1]
26 [9, 20] 1 0 ultralytics.nn.modules.conv.Concat [1]
27 [11, 22] 1 0 ultralytics.nn.modules.conv.Concat [1]
28 [13, 24] 1 0 ultralytics.nn.modules.conv.Concat [1]
29 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
30 [-1, 27] 1 0 ultralytics.nn.modules.conv.Concat [1]
31 -1 1 225600 ultralytics.nn.AddModules.A2C2f.A2C2f [896, 192, 1, False, -1]
32 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
33 [-1, 26] 1 0 ultralytics.nn.modules.conv.Concat [1]
34 -1 1 91008 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 128, 1, False, -1]
35 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
36 [-1, 25] 1 0 ultralytics.nn.modules.conv.Concat [1]
37 -1 1 28096 ultralytics.nn.AddModules.A2C2f.A2C2f [384, 64, 1, False, -1]
38 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
39 [-1, 34] 1 0 ultralytics.nn.modules.conv.Concat [1]
40 -1 1 74624 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 128, 1, False, -1]
41 -1 1 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
42 [-1, 31] 1 0 ultralytics.nn.modules.conv.Concat [1]
43 -1 1 164160 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 192, 1, False, -1]
44 -1 1 221440 ultralytics.nn.modules.conv.Conv [192, 128, 3, 2]
45 [-1, 28] 1 0 ultralytics.nn.modules.conv.Concat [1]
46 -1 1 444416 ultralytics.nn.modules.block.C3k2 [640, 256, 1, True]
47 [37, 40, 43, 46] 1 602260 ultralytics.nn.modules.head.Detect [1, [64, 128, 192, 256]]
YOLOv12-mid-p6 summary: 1,012 layers, 6,205,460 parameters, 6,205,444 gradients, 8.9 GFLOPs
中-后期融合结果：
YOLOv12-mid-to-late-p6 summary: 1,117 layers, 6,643,028 parameters, 6,643,012 gradients, 10.6 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 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
5 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
6 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
7 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
8 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
9 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
10 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
11 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
12 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
13 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
14 2 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
15 -1 1 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
16 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
17 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
18 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
19 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
20 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
21 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
22 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
23 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
24 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
25 13 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
26 [-1, 11] 1 0 ultralytics.nn.modules.conv.Concat [1]
27 -1 1 182592 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 192, 1, False, -1]
28 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
29 [-1, 9] 1 0 ultralytics.nn.modules.conv.Concat [1]
30 -1 1 82816 ultralytics.nn.AddModules.A2C2f.A2C2f [320, 128, 1, False, -1]
31 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
32 [-1, 7] 1 0 ultralytics.nn.modules.conv.Concat [1]
33 -1 1 24000 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 64, 1, False, -1]
34 24 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
35 [-1, 22] 1 0 ultralytics.nn.modules.conv.Concat [1]
36 -1 1 182592 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 192, 1, False, -1]
37 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
38 [-1, 20] 1 0 ultralytics.nn.modules.conv.Concat [1]
39 -1 1 82816 ultralytics.nn.AddModules.A2C2f.A2C2f [320, 128, 1, False, -1]
40 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
41 [-1, 18] 1 0 ultralytics.nn.modules.conv.Concat [1]
42 -1 1 24000 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 64, 1, False, -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 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
48 [-1, 45] 1 0 ultralytics.nn.modules.conv.Concat [1]
49 -1 1 82816 ultralytics.nn.AddModules.A2C2f.A2C2f [320, 128, 1, False, -1]
50 -1 1 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
51 [-1, 44] 1 0 ultralytics.nn.modules.conv.Concat [1]
52 -1 1 182592 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 192, 1, False, -1]
53 -1 1 221440 ultralytics.nn.modules.conv.Conv [192, 128, 3, 2]
54 [-1, 43] 1 0 ultralytics.nn.modules.conv.Concat [1]
55 -1 1 444416 ultralytics.nn.modules.block.C3k2 [640, 256, 1, True]
56 [46, 49, 52, 55] 1 742228 ultralytics.nn.modules.head.Detect [1, [128, 128, 192, 256]]
YOLOv12-mid-to-late-p6 summary: 1,117 layers, 6,643,028 parameters, 6,643,012 gradients, 10.6 GFLOPs
后期融合结果：
YOLOv12-late-p6 summary: 1,228 layers, 7,875,796 parameters, 7,875,780 gradients, 11.6 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 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
5 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
6 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
7 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
8 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
9 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
10 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
11 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
12 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
13 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
14 2 1 464 ultralytics.nn.modules.conv.Conv [3, 16, 3, 2]
15 -1 1 2368 ultralytics.nn.modules.conv.Conv [16, 32, 3, 2, 1, 2]
16 -1 1 6640 ultralytics.nn.modules.block.C3k2 [32, 64, 1, False, 0.25]
17 -1 1 9344 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2, 1, 4]
18 -1 1 26080 ultralytics.nn.modules.block.C3k2 [64, 128, 1, False, 0.25]
19 -1 1 147712 ultralytics.nn.modules.conv.Conv [128, 128, 3, 2]
20 -1 2 180864 ultralytics.nn.AddModules.A2C2f.A2C2f [128, 128, 2, True, 4]
21 -1 1 221568 ultralytics.nn.modules.conv.Conv [128, 192, 3, 2]
22 -1 2 394176 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 192, 2, True, 1]
23 -1 1 442880 ultralytics.nn.modules.conv.Conv [192, 256, 3, 2]
24 -1 2 689408 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 256, 2, True, 1]
25 13 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
26 [-1, 11] 1 0 ultralytics.nn.modules.conv.Concat [1]
27 -1 1 182592 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 192, 1, False, -1]
28 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
29 [-1, 9] 1 0 ultralytics.nn.modules.conv.Concat [1]
30 -1 1 82816 ultralytics.nn.AddModules.A2C2f.A2C2f [320, 128, 1, False, -1]
31 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
32 [-1, 7] 1 0 ultralytics.nn.modules.conv.Concat [1]
33 -1 1 24000 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 64, 1, False, -1]
34 -1 1 36992 ultralytics.nn.modules.conv.Conv [64, 64, 3, 2]
35 [-1, 30] 1 0 ultralytics.nn.modules.conv.Concat [1]
36 -1 1 74624 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 128, 1, False, -1]
37 -1 1 73856 ultralytics.nn.modules.conv.Conv [128, 64, 3, 2]
38 [-1, 27] 1 0 ultralytics.nn.modules.conv.Concat [1]
39 -1 1 164160 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 192, 1, False, -1]
40 -1 1 221440 ultralytics.nn.modules.conv.Conv [192, 128, 3, 2]
41 [-1, 13] 1 0 ultralytics.nn.modules.conv.Concat [1]
42 -1 1 378880 ultralytics.nn.modules.block.C3k2 [384, 256, 1, True]
43 24 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
44 [-1, 22] 1 0 ultralytics.nn.modules.conv.Concat [1]
45 -1 1 182592 ultralytics.nn.AddModules.A2C2f.A2C2f [448, 192, 1, False, -1]
46 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
47 [-1, 20] 1 0 ultralytics.nn.modules.conv.Concat [1]
48 -1 1 82816 ultralytics.nn.AddModules.A2C2f.A2C2f [320, 128, 1, False, -1]
49 -1 1 0 torch.nn.modules.upsampling.Upsample [None, 2, 'nearest']
50 [-1, 18] 1 0 ultralytics.nn.modules.conv.Concat [1]
51 -1 1 24000 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 64, 1, False, -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 74624 ultralytics.nn.AddModules.A2C2f.A2C2f [192, 128, 1, False, -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 164160 ultralytics.nn.AddModules.A2C2f.A2C2f [256, 192, 1, False, -1]
58 -1 1 221440 ultralytics.nn.modules.conv.Conv [192, 128, 3, 2]
59 [-1, 24] 1 0 ultralytics.nn.modules.conv.Concat [1]
60 -1 1 378880 ultralytics.nn.modules.block.C3k2 [384, 256, 1, 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 1154068 ultralytics.nn.modules.head.Detect [1, [128, 256, 384, 512]]
YOLOv12-late-p6 summary: 1,228 layers, 7,875,796 parameters, 7,875,780 gradients, 11.6 GFLOPs