Fig. 1. YOLOX network structure

Fig. 2. Structure of CE-YOLOX network

Fig. 3. Sub-pixel skip fusion（SSF）module

Fig. 4. Illustration of sub-pixel context enhancement（SCE）

Fig. 5. Illustration of channel attention guided module（CAG）

Fig. 6. Overview of GAM

Fig. 7. Channel attention submodule

Fig. 8. Spatial attention submodule

Fig. 9. Scheme for calculation of angle cost contribution to the loss function

Fig. 10. Scheme for calculation of the distance between the ground truth bounding box and the prediction of it

Fig. 11. Comparison of YOLOX and CE-YOLOX test results

Fig. 12. Comparison of three model checks

Fig. 13. Flow diagram of guide system