A modified YOLOv3 detection method for vision-based water surface garbage capture robot

doi:10.1177/1729881420932715

	A modified YOLOv3 detection method for vision-based water surface garbage capture robot
	Li, Xiali 1; Tian, Manjun 1; Kong, Shihan2,3 ; Wu, Licheng 1; Yu, Junzhi2,4
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN	1729-8814
	2020-05-01
卷号	17 期号:3 页码:11
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	To tackle the water surface pollution problem, a vision-based water surface garbage capture robot has been developed in our lab. In this article, we present a modified you only look once v3-based garbage detection method, allowing real-time and high-precision object detection in dynamic aquatic environments. More specifically, to improve the real-time detection performance, the detection scales of you only look once v3 are simplified from 3 to 2. Besides, to guarantee the accuracy of detection, the anchor boxes of our training data set are reclustered for replacing some of the original you only look once v3 prior anchor boxes that are not appropriate to our data set. By virtue of the proposed detection method, the capture robot has the capability of cleaning floating garbage in the field. Experimental results demonstrate that both detection speed and accuracy of the modified you only look once v3 are better than those of other object detection algorithms. The obtained results provide valuable insight into the high-speed detection and grasping of dynamic objects in complex aquatic environments autonomously and intelligently.
关键词	Object detection aquatic environment garbage capture robot modified YOLOv3 detection
DOI	10.1177/1729881420932715
关键词[WOS]	CLEANING ROBOT ; DEEP
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61873291] ; National Natural Science Foundation of China[61773416] ; Minzu University of China 111 Project
项目资助者	National Natural Science Foundation of China ; Minzu University of China 111 Project
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000549188700001
出版者	SAGE PUBLICATIONS INC
引用统计	被引频次：35[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/40158
专题	复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Minzu Univ China, Sch Informat Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 4.Peking Univ, State Key Lab Turbulence & Complex Syst, Beijing Innovat Ctr Engn Sci & Adv Technol, Dept Mech & Engn Sci,Coll Engn, Beijing 100871, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Li, Xiali,Tian, Manjun,Kong, Shihan,et al. A modified YOLOv3 detection method for vision-based water surface garbage capture robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2020,17(3):11.
APA	Li, Xiali,Tian, Manjun,Kong, Shihan,Wu, Licheng,&Yu, Junzhi.(2020).A modified YOLOv3 detection method for vision-based water surface garbage capture robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,17(3),11.
MLA	Li, Xiali,et al."A modified YOLOv3 detection method for vision-based water surface garbage capture robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 17.3(2020):11.