A Lightweight Detection Algorithm for Unmanned Surface Vehicles Based on Multi-Scale Feature Fusion

Abstract

Lightweight detection methods are frequently utilized for unmanned system sensing; however, when put in complicated water surface environments, they suffer from insufficient feature fusion and decreased accuracy. This paper proposes a lightweight surface target detection algorithm with multi-scale feature fusion augmentation in an effort to improve the poor detection accuracy of lightweight detection algorithms in the mission environment of unmanned surface vehicles (USVs). Based on the popular one-stage lightweight YOLOv7-Tiny target detection algorithms, a lightweight extraction module is designed first by introducing the multi-scale residual module to reduce the number of parameters and computational complexity while improving accuracy. The Mish and SiLU activation functions are used to enhance network feature extraction. Second, the path aggregation network employs coordinate convolution to strengthen spatial information perception. Finally, the dynamic head, which is based on the attention mechanism, improves the representation ability of object detection heads without any computational overhead. According to the experimental findings, the proposed model has 22.1% fewer parameters than the original model, 15% fewer GFLOPs, a 6.2% improvement in mAP@0.5, a 4.3% rise in mAP@0.5:0.95, and satisfies the real-time criteria. According to the research, the suggested lightweight water surface detection approach includes a lighter model, a simpler computational architecture, more accuracy, and a wide range of generalizability. It performs better in a variety of difficult water surface circumstances.