Astronaut Visual Tracking of Flying Assistant Robot in Space Station Based on Deep Learning and Probabilistic Model

Table 1

Parameters of prior bounding boxes in each prediction layer.

Layer	Scale	Prior bounding box parameters
				Step	Aspect ratios
Conv6	19 × 19	60	115	16	1, 1/2, 2
Concat7	10 × 10	115	170	30	1, 1/2, 2, 1/3, 3
Concat8	5 × 5	170	225	60	1, 1/2, 2, 1/3, 3
Concat9	3 × 3	225	280	100	1, 1/2, 2, 1/3, 3
Conv10	1 × 1	280	320	300	1, 1/2, 2