An Improved Underwater Recognition Algorithm for Subsea X-Tree Key Components Based on Deep Transfer Learning

Abstract

It is promising to detect or maintain subsea X-trees using a remote operated vehicle (ROV). In this article, an efficient recognition model for the subsea X-tree component is proposed to assist in the autonomous operation of unmanned underwater maintenance vehicles: an efficient network module, SX(subsea X-tree)-DCANet, is designed to replace the CSPBlock of YOLOv4-tiny with ResBlock-D and combine with the ECANet attention module. In addition, two-stage transform learning is used for the insufficiency of underwater target recognition samples as well as the overfitting caused by the subsea target recognition model, thereby providing an effective learning strategy for traditional subsea target recognition. A mosaic data augment algorithm and cosine annealing algorithm are also utilized for better accuracy of network training. The results of ablation studies show that the mean Average Precision (mAP) and speed of the improved algorithm are increased by 1.58% and 10.62%, respectively. Multiple field experiments on the laboratory, experimental pool, and the hydro-electric station prove that the recognition algorithm and training strategy present in this article can be well applied in subsea X-tree component recognition, and can effectively promote the development of intelligent subsea oil extraction projects.