A modified YOLOv3 detection method for vision-based water surface garbage capture robot
文献类型：期刊论文
| 作者 | Li, Xiali1; Tian, Manjun1; Kong, Shihan2,3 ; Wu, Licheng1; Yu, Junzhi2,4
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2020-05-01 |
| 卷号 | 17期号:3页码:11 |
| 关键词 | Object detection aquatic environment garbage capture robot modified YOLOv3 detection |
| ISSN号 | 1729-8814 |
| DOI | 10.1177/1729881420932715 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | To tackle the water surface pollution problem, a vision-based water surface garbage capture robot has been developed in our lab. In this article, we present a modified you only look once v3-based garbage detection method, allowing real-time and high-precision object detection in dynamic aquatic environments. More specifically, to improve the real-time detection performance, the detection scales of you only look once v3 are simplified from 3 to 2. Besides, to guarantee the accuracy of detection, the anchor boxes of our training data set are reclustered for replacing some of the original you only look once v3 prior anchor boxes that are not appropriate to our data set. By virtue of the proposed detection method, the capture robot has the capability of cleaning floating garbage in the field. Experimental results demonstrate that both detection speed and accuracy of the modified you only look once v3 are better than those of other object detection algorithms. The obtained results provide valuable insight into the high-speed detection and grasping of dynamic objects in complex aquatic environments autonomously and intelligently. |
| WOS关键词 | CLEANING ROBOT ; DEEP |
| 资助项目 | National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61873291] ; National Natural Science Foundation of China[61773416] ; Minzu University of China 111 Project |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000549188700001 |
| 出版者 | SAGE PUBLICATIONS INC |
| 资助机构 | National Natural Science Foundation of China ; Minzu University of China 111 Project |
| 源URL | [http://ir.ia.ac.cn/handle/173211/40157]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Minzu Univ China, Sch Informat Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 4.Peking Univ, State Key Lab Turbulence & Complex Syst, Beijing Innovat Ctr Engn Sci & Adv Technol, Dept Mech & Engn Sci,Coll Engn, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Xiali,Tian, Manjun,Kong, Shihan,et al. A modified YOLOv3 detection method for vision-based water surface garbage capture robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2020,17(3):11. |
| APA | Li, Xiali,Tian, Manjun,Kong, Shihan,Wu, Licheng,&Yu, Junzhi.(2020).A modified YOLOv3 detection method for vision-based water surface garbage capture robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,17(3),11. |
| MLA | Li, Xiali,et al."A modified YOLOv3 detection method for vision-based water surface garbage capture robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 17.3(2020):11. |
入库方式： OAI收割
来源：自动化研究所
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