Vision-based underwater target real-time detection for autonomous underwater vehicle subsea exploration | |
Xu, Gaofei5; Zhou, Daoxian2,3,4; Yuan, Libiao2,3,4; Guo, Wei5; Huang, Zepeng1; Zhang, Yinlong2,3,4 | |
刊名 | FRONTIERS IN MARINE SCIENCE |
2023-05-24 | |
卷号 | 10页码:12 |
关键词 | autonomous underwater vehicle subsea exploration real-time target detection lightweight convolutional neural network underwater image enhancement |
DOI | 10.3389/fmars.2023.1112310 |
通讯作者 | Guo, Wei(guow@idsse.ac.cn) ; Zhang, Yinlong(zhangyinlong@sia.cn) |
英文摘要 | Autonomous underwater vehicles (AUVs) equipped with online visual inspection systems can detect underwater targets during underwater operations, which is of great significance to subsea exploration. However, the undersea scene has some instinctive challenging problems, such as poor lighting conditions, sediment burial, and marine biofouling mimicry, which makes it difficult for traditional target detection algorithms to achieve online, reliable, and accurate detection of underwater targets. To solve the above issues, this paper proposes a real-time object detection algorithm for underwater targets based on a lightweight convolutional neural network model. To improve the imaging quality of underwater images, contrast limited adaptive histogram equalization with the fused multicolor space (FCLAHE) model is designed to enhance the image quality of underwater targets. Afterwards, a spindle-shaped backbone network is designed. The inverted residual block and group convolutions are used to extract depth features to ensure the target detection accuracy on one hand and to reduce the model parameter volume on the other hand under complex scenarios. Through extensive experiments, the precision, recall, and mAP of the proposed algorithm reached 91.2%, 90.1%, and 88.3%, respectively. It is also noticeable that the proposed method has been integrated into the embedded GPU platform and deployed in the AUV system in the practical scenarios. The average computational time is 0.053s, which satisfies the requirements of real-time object detection. |
资助项目 | National Key Research and Development Program of China[2020YFC1521704] ; National Natural Science Foundation of China[62273332] ; Youth Innovation Promotion Association of the Chinese Academy of Sciences[2023386] |
WOS研究方向 | Environmental Sciences & Ecology ; Marine & Freshwater Biology |
语种 | 英语 |
出版者 | FRONTIERS MEDIA SA |
WOS记录号 | WOS:001002778400001 |
资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association of the Chinese Academy of Sciences |
内容类型 | 期刊论文 |
源URL | [http://ir.idsse.ac.cn/handle/183446/10492] |
专题 | 深海工程技术部_深海信息技术研究室 |
通讯作者 | Guo, Wei; Zhang, Yinlong |
作者单位 | 1.Natl Ctr Archaeol, Underwater Archaeol Dept, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Peoples R China 3.Chinese Acad Sci, Key Lab Networked Control Syst, Shenyang, Peoples R China 4.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Peoples R China 5.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya, Peoples R China |
推荐引用方式 GB/T 7714 | Xu, Gaofei,Zhou, Daoxian,Yuan, Libiao,et al. Vision-based underwater target real-time detection for autonomous underwater vehicle subsea exploration[J]. FRONTIERS IN MARINE SCIENCE,2023,10:12. |
APA | Xu, Gaofei,Zhou, Daoxian,Yuan, Libiao,Guo, Wei,Huang, Zepeng,&Zhang, Yinlong.(2023).Vision-based underwater target real-time detection for autonomous underwater vehicle subsea exploration.FRONTIERS IN MARINE SCIENCE,10,12. |
MLA | Xu, Gaofei,et al."Vision-based underwater target real-time detection for autonomous underwater vehicle subsea exploration".FRONTIERS IN MARINE SCIENCE 10(2023):12. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论