A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

doi:10.1631/FITEE.2100473

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot
	Tian, Manjun 1,2; Li, Xiali 1; Kong, Shihan 3; Wu, Licheng 1; Yu, Junzhi 3,4
刊名	FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING
	2022-08-01
卷号	23 期号:8 页码:1217-1228
关键词	Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4 TP242
ISSN号	2095-9184
DOI	10.1631/FITEE.2100473
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	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.
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]
WOS关键词	SCALE
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	ZHEJIANG UNIV PRESS
WOS记录号	WOS:000844190200007
资助机构	National Natural Science Foundation of China ; Postdoctoral Innovative Talent Support Program ; S&T Program of Hebei Province, China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50059]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Yu, Junzhi
作者单位	1.Minzu Univ China, Sch Informat Engn, Beijing 100081, Peoples R China 2.Minist Publ Secur PRC, Res Inst 1, Beijing 100048, 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
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.