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

作　　者：Manjun TIAN Xiali LI Shihan KONG Licheng WU Junzhi YU 

机构地区：[1]First Research Institute of the Ministry of Public Security of PRC,Beijing 100048,China [2]School of Information Engineering,Minzu University of China,Beijing 100081,China [3]Department of Advanced Manufacturing and Robotics,College of Engineering,Peking University,Beijing 100871,China [4]State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2022年第8期1217-1228,共12页信息与电子工程前沿（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.61725305,U1909206,T2121002,and62073196);the Postdoctoral Innovative Talent Support Program(No.BX2021010);the S&T Program of Hebei Province,China(No.F2020203037)。

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 

分 类 号：X52[环境科学与工程—环境工程] TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]