Attention mechanisms 1 Cleaning 1 Cleaning system 1 Convolution 1 Feature extraction 1 Features fusions 1 Image enhancement 1 Image fusion 1 Image segmentation 1 Images segmentations 1 Polarized self-attention 1 Pyramid Vision Transformer 1 Pyramid vision transformer 1 Real- time 1 Rubber 1 Rubber ball cleaning system Rubber balls 1 Spatial reduction 1 attention mechanism 1 feature fusion 1 image segmentation 1 polarized self-attention 1 rubber ball cleaning system 1