Abstract
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.
Highlights
YOLOv3 was compared with Faster R-convolutional neural network (CNN) and single shot detector (SSD), respectively[40,41]; the results show that YOLOv3 is in a leading position in both speed and accuracy
A real-time and high-precision detection method is extremely critical for the successful grasping of water surface garbage robot; conventional detection methods cannot meet the requirements at the same time
A modified YOLOv3 network is developed in this study
Summary
Water insecurity (quantity and quality) affects health and livelihoods. Contaminated water causes 1.7 million fatalities from treatable diseases annually. Poor ocean health affects access to cheap protein (i.e. fish) for approximately 275 million people and the access to 20% of the animal protein supply for 3.1 billion people in total. It threatens livelihoods in the tourism and commercial fishing sectors.[1] The reserves of water resources are very limited and faced with severe pollution, especially as plastic waste pollution. The protection of water resources is one of the greatest and most sacred duties of human beings.
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