CLC number: TP242
On-line Access: 2022-08-22
Received: 2021-10-01
Revision Accepted: 2022-08-29
Crosschecked: 2022-03-07
Cited: 0
Clicked: 2485
Manjun TIAN, Xiali LI, Shihan KONG, Licheng WU, Junzhi YU. A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2100473 @article{title="A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot", %0 Journal Article TY - JOUR
基于改进YOLOv4的水下垃圾清理机器人视觉检测算法1公安部第一研究所,中国北京市,100048 2中央民族大学信息工程学院,中国北京市,100081 3北京大学工学院先进制造与机器人系,中国北京市,100871 4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,中国北京市,100190 摘要:为解决水环境污染问题,依托基于视觉的水下垃圾自主清理机器人,提出一种基于改进YOLOv4的垃圾检测方法,可实现高速、高精度的目标检测。具体而言,选择YOLOv4算法作为执行目标检测的基本神经网络框架。为进一步提高检测精度,将传统YOLOv4改进为四尺度检测算法;为提高检测速度,对新模型进行模型剪枝操作。同时,将所提方法应用于水下机器人,实现了自主垃圾收集作业。检测速度可达66.67 帧/秒,平均准确率可达95.099%;实验结果表明,改进后的YOLOv4算法在检测速度和精度方面均表现优秀。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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