Knowledge Commons of Institute of Automation,CAS
A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot | |
Tian, Manjun1,2; Li, Xiali2; Kong, Shihan3; Wu, Licheng2; Yu, Junzhi3,4 | |
发表期刊 | FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING |
ISSN | 2095-9184 |
2022-08-01 | |
卷号 | 23期号:8页码:1217-1228 |
通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
摘要 | To tackle the problem of aquatic environment pollution, a vision-based autonomous underwater garbage cleaning robot has been developed in our laboratory. We propose a garbage detection method based on a modified YOLOv4, allowing high-speed and high-precision object detection. Specifically, the YOLOv4 algorithm is chosen as a basic neural network framework to perform object detection. With the purpose of further improvement on the detection accuracy, YOLOv4 is transformed into a four-scale detection method. To improve the detection speed, model pruning is applied to the new model. By virtue of the improved detection methods, the robot can collect garbage autonomously. The detection speed is up to 66.67 frames/s with a mean average precision (mAP) of 95.099%, and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent. |
关键词 | Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4 TP242 |
DOI | 10.1631/FITEE.2100473 |
关键词[WOS] | SCALE |
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[T2121002] ; National Natural Science Foundation of China[62073196] ; Postdoctoral Innovative Talent Support Program[BX2021010] ; S&T Program of Hebei Province, China[F2020203037] |
项目资助者 | National Natural Science Foundation of China ; Postdoctoral Innovative Talent Support Program ; S&T Program of Hebei Province, China |
WOS研究方向 | Computer Science ; Engineering |
WOS类目 | Computer Science, Information Systems ; Computer Science, Software Engineering ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000844190200007 |
出版者 | ZHEJIANG UNIV PRESS |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/50060 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.Minist Publ Secur PRC, Res Inst 1, Beijing 100048, Peoples R China 2.Minzu Univ China, Sch Informat Engn, Beijing 100081, Peoples R China 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, 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 | Tian, Manjun,Li, Xiali,Kong, Shihan,et al. A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot[J]. FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,2022,23(8):1217-1228. |
APA | Tian, Manjun,Li, Xiali,Kong, Shihan,Wu, Licheng,&Yu, Junzhi.(2022).A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot.FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,23(8),1217-1228. |
MLA | Tian, Manjun,et al."A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot".FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING 23.8(2022):1217-1228. |
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