Target Detection Model Research Articles

Study on Parking Space Recognition Based on Improved Image Equalization and YOLOv5

Parking space recognition is an important part in the process of automatic parking, and it is also a key issue in the research field of automatic parking technology. The parking space recognition process was studied based on vision and the YOLOv5 target detection algorithm. Firstly, the fisheye camera around the body was calibrated using the Zhang Zhengyou calibration method, and then the corrected images captured by the camera were top-view transformed; then, the projected transformed images were stitched and fused in a unified coordinate system, and an improved image equalization processing fusion algorithm was used in order to improve the uneven image brightness in the parking space recognition process; after that, the fused images were input to the YOLOv5 target detection model for training and validation, and the results were compared with those of two other algorithms. Finally, the contours of the parking space were extracted based on OpenCV. The simulations and experiments proved that the brightness and sharpness of the fused images meet the requirements after image equalization, and the effectiveness of the parking space recognition method was also verified.

An improved model for target detection and pose estimation of a teleoperation power manipulator.

A hot cell is generally deployed with a teleoperation power manipulator to complete tests, operations, and maintenance. The position and pose of the manipulator are mostly acquired through radiation-resistant video cameras arranged in the hot cell. In this paper, deep learning-based target detection technology is used to establish an experimental platform to test the methods for target detection and pose estimation of teleoperation power manipulators using two cameras. In view of the fact that a complex environment affects the precision of manipulator pose estimation, the dilated-fully convolutional one-stage object detection (dilated-FCOS) teleoperation power manipulator target detection algorithm is proposed based on the scale of the teleoperation power manipulator. Model pruning is used to improve the real-time performance of the dilated-FCOS teleoperation power manipulator target detection model. To improve the detection speed for the key points of the teleoperation power manipulator, the keypoint detection precision and model inference speed of different lightweight backbone networks were tested based on the SimpleBaseline algorithm. MobileNetv1 was selected as the backbone network to perform channel compression and pose distillation on the upsampling module so as to further optimize the inference speed of the model. Compared with the original model, the proposed model was experimentally proven to reach basically the same precision within a shorter inference time (only 58% of that of the original model). The experimental results show that the compressed model basically retains the precision of the original model and that its inference time is 48% of that of the original model.

A Method for Generating Error-caused Scenarios

In recent years, with the development of artificial intelligence, Unmanned Autonomous Systems (UAS) have also developed rapidly. It is necessary to conduct sufficient testing and evaluation of UAS before using it. This paper proposes a method for generating error-caused scenarios that lead to incorrect behavior in UAS, and how to evaluate the level of incorrect behavior in UAS caused by the scenario. Based on the method proposed in this paper, error-caused scenarios can be generated in the simulation platform, and the dataset constructed from these scenarios can be input into the target detection model to verify the effectiveness of error-caused scenarios. Our experiments have shown that the scenarios generated by the method can easily lead to errors in UAS, and the method can play an important role in the field of model-based UAS testing and validation.

An Efficient Forest Fire Target Detection Model Based on Improved YOLOv5

To tackle the problem of missed detections in long-range detection scenarios caused by the small size of forest fire targets, initiatives have been undertaken to enhance the feature extraction and detection precision of models designed for forest fire imagery. In this study, two algorithms, DenseM-YOLOv5 and SimAM-YOLOv5, were proposed by modifying the backbone network of You Only Look Once version 5 (YOLOv5). From the perspective of lightweight models, compared to YOLOv5, SimAM-YOLOv5 reduced the parameter size by 28.57%. Additionally, although SimAM-YOLOv5 showed a slight decrease in recall rate, it achieved improvements in precision and average precision (AP) to varying degrees. The DenseM-YOLOv5 algorithm achieved a 2.24% increase in precision, as well as improvements of 1.2% in recall rate and 1.52% in AP compared to the YOLOv5 algorithm. Despite having a higher parameter size, the DenseM-YOLOv5 algorithm outperformed the SimAM-YOLOv5 algorithm in terms of precision and AP for forest fire detection.

Plant intelligence-based PILLO underwater target detection algorithm

With the rapid development in the field of marine exploration, underwater robots play an increasingly important role in the military, fisheries, aquaculture, resource protection, etc. The main way for underwater robots to obtain information is underwater target detection, and the development of underwater robots is inseparable from the development of underwater target detection technology. Existing target detection algorithms have achieved good results on land, but are often unsatisfactory in actual underwater target detection. In this paper, based on the principle of plant intelligence and the target detection algorithm YOLOv5, our proposes the PILLO algorithm to adapt to the underwater environment with blurred imaging and insufficient light, and is specially used for underwater target detection. Specifically, the Swin Transformer is improved based on the principles of the multicore plant intelligence model, which then replaces part of the backbone network of the PILLO algorithm. The Shuffle Attention mechanism is improved based on the principles of the plant logical space transfer mechanism and added to the neck network of the PILLO algorithm. The SIOU loss function was improved based on the principle of the plant ecological regulation module and applied to the PILLO algorithm. The experimental results show that the PILLO model can improve the average accuracy (mAP) of underwater target detection by 87.1%, which is better than the common target detection model.

Exploratory Study of Sex Identification for Chicken Embryos Based on Blood Vessel Images and Deep Learning

The identification of a chicken’s sex is a massive task in the poultry industry. To solve the problems of traditional artificial observation in determining sex, such as time-consuming and laborious, a sex identification method of chicken embryos based on blood vessel images and deep learning was preliminarily investigated. In this study, we designed an image acquisition platform to capture clear blood vessel images with a black background. 19,748 images of 3024 Jingfen No. 6 breeding eggs were collected from days 3 to 5 of incubation in Beijing Huadu Yukou Poultry Industry. Sixteen thousand seven hundred sixty-one images were filtered via color sexing in 1-day-old chicks and constructed the dataset of this study. A sex identification model was proposed based on an improved YOLOv7 deep learning algorithm. An attention mechanism CBAM was introduced for YOLOv7 to improve the accuracy of sex identification of chicken eggs; the BiFPN feature fusion was used in the neck network of YOLOv7 to fuse the low-level and high-level features efficiently; and α-CIOU was used as the bounding box loss function to accelerate regression prediction and improve the positioning accuracy of the bounding box of the model. Results showed that the mean average precision (mAP) of 88.79% was achieved by modeling with the blood vessel data on day 4 of incubation of chicken eggs, with the male and female reaching 87.91% and 89.67%. Compared with the original YOLOv7 network, the mAP of the improved model was increased by 3.46%. The comparison of target detection model results showed that the mAP of our method was 32.49%, 17.17%, and 5.96% higher than that of SSD, Faster R-CNN, and YOLOv5, respectively. The average image processing time was 0.023 s. Our study indicates that using blood vessel images and deep learning has great potential applications in the sex identification of chicken embryos.

An Underwater Dense Small Object Detection Model Based on YOLOv5-CFDSDSE

Underwater target detection is a key technology in the process of exploring and developing the ocean. Because underwater targets are often very dense, mutually occluded, and affected by light, the detection objects are often unclear, and so, underwater target detection technology faces unique challenges. In order to improve the performance of underwater target detection, this paper proposed a new target detection model YOLOv5-FCDSDSE based on YOLOv5s. In this model, the CFnet (efficient fusion of C3 and FasterNet structure) structure was used to optimize the network structure of the YOLOv5, which improved the model’s accuracy while reducing the number of parameters. Then, Dyhead technology was adopted to achieve better scale perception, space perception, and task perception. In addition, the small object detection (SD) layer was added to combine feature information from different scales effectively, retain more detailed information, and improve the detection ability of small objects. Finally, the attention mechanism squeeze and excitation (SE) was introduced to enhance the feature extraction ability of the model. This paper used the self-made underwater small object dataset URPC_UODD for comparison and ablation experiments. The experimental results showed that the accuracy of the model proposed in this paper was better than the original YOLOv5s and other baseline models in the underwater dense small object detection task, and the number of parameters was also reduced compared to YOLOv5s. Therefore, YOLOv5-FCDSDSE was an innovative solution for underwater target detection tasks.

Automatic Recognition Reading Method of Pointer Meter Based on YOLOv5-MR Model.

Meter reading is an important part of intelligent inspection, and the current meter reading method based on target detection has problems of low accuracy and large error. In order to improve the accuracy of automatic meter reading, this paper proposes an automatic reading method for pointer-type meters based on the YOLOv5-Meter Reading (YOLOv5-MR) model. Firstly, in order to improve the detection performance of small targets in YOLOv5 framework, a multi-scale target detection layer is added to the YOLOv5 framework, and a set of Anchors is designed based on the lightning rod dial data set; secondly, the loss function and up-sampling method are improved to enhance the model training convergence speed and obtain the optimal up-sampling parameters; Finally, a new external circle fitting method of the dial is proposed, and the dial reading is calculated by the center angle algorithm. The experimental results on the self-built dataset show that the Mean Average Precision (mAP) of the YOLOv5-MR target detection model reaches 79%, which is 3% better than the YOLOv5 model, and outperforms other advanced pointer-type meter reading models.

Track Fastener Defect Detection Model Based on Improved YOLOv5s.

Defect detection of track fasteners is a prerequisite for safe and reliable railroad operation. The traditional manual visual inspection method has been unable to meet the growing demand for railroad network inspection in China. To achieve the need for accurate, fast, and intelligent detection of rail fasteners, this paper proposes a rail fastener defect detection model based on improved YOLOv5s. Firstly, the convolutional block attention module (CBAM) is added to the Neck network of the YOLOv5s model to enhance the extraction of essential features by the model and suppress the information of minor features. Secondly, a weighted bidirectional feature pyramid network (BiFPN) is introduced to realize the multi-scale feature fusion of the model. Finally, the K-means++ algorithm is used to re-cluster the dataset to obtain the anchor box suitable for the fastener dataset and improve the positioning ability of the model. The experimental results show that the improved model achieves an average mean precision (mAP) of 97.4%, a detection speed of 27.3 FPS, and a model memory occupancy of 15.5 M. Compared with the existing target detection model, the improved model has the advantages of high detection accuracy, fast detection speed, and small model memory occupation, which can provide technical support for edge deployment of rail fastener defect detection.

IMVTS: A Detection Model for Multi-Varieties of Famous Tea Sprouts Based on Deep Learning

The recognition of fresh tea leaf sprouts is one of the difficulties in the realization of the automated picking of fresh tea leaves. At present, the research on the detection of fresh tea leaf sprouts is based on a single variety of tea leaves for a specific period or specific place, which has no advantage for the spread, promotion, and application of the methods. To address this problem, an identification of multiple varieties of tea sprouts (IMVTS) model was proposed. First, images of three different varieties of tea (ZhongCha108 (ZC108), ZhongHuangYiHao (ZH), ZiJuan (ZJ)) were obtained, and the multiple varieties of tea (MVT) dataset for training and validating models was created. In addition, the detection effects of adding a convolutional block attention module (CBAM) or efficient channel attention (ECA) module to YOLO v7 were compared. In the detection of the MVT dataset, YOLO v7+ECA and YOLO v7+CBAM showed a higher mean average precision (mAP) than YOLO v7, with 98.82% and 98.80%, respectively. Notably, the IMVTS model had the highest AP for ZC108, ZH, and ZJ compared with the two other models, with 99.87%, 96.97%, and 99.64%, respectively. Therefore, the IMVTS model was proposed on the basic framework of the ECA and YOLO v7. To further illustrate the superiority of the model, this study also conducted a comparison test between the IMVTS model and the mainstream target detection models (YOLO v3, YOLO v5, FASTER-RCNN, and SSD) and the IMVTS model on the VOC dataset, and it is clear from the test results that the mAP of the IMVTS model is ahead of the remaining models. Concisely, the detection accuracy of the IMVTS model can meet the engineering requirements for the automatic harvesting of autumn fresh famous tea leaves, which provides a basis for the future design of detection networks for other varieties of autumn tea sprouts.

TIG-DETR: Enhancing Texture Preservation and Information Interaction for Target Detection

FPN (Feature Pyramid Network) and transformer-based target detectors are commonly employed in target detection tasks. However, these approaches suffer from design flaws that restrict their performance. To overcome these limitations, we proposed TIG-DETR (Texturized Instance Guidance DETR), a novel target detection model. TIG-DETR comprises a backbone network, TE-FPN (Texture-Enhanced FPN), and an enhanced DETR detector. TE-FPN addresses the issue of texture information loss in FPN by utilizing a bottom-up architecture, Lightweight Feature-wise Attention, and Feature-wise Attention. These components effectively compensate for texture information loss, mitigate the confounding effect of cross-scale fusion, and enhance the final output features. Additionally, we introduced the Instance Based Advanced Guidance Module in the DETR-based detector to tackle the weak detection of larger objects caused by the limitations of window interactions in Shifted Window-based Self-Attention. By incorporating TE-FPN instead of FPN in Faster RCNN and employing ResNet-50 as the backbone network, we observed an improvement of 1.9 AP in average accuracy. By introducing the Instance-Based Advanced Guidance Module, the average accuracy of the DETR-based target detector has been improved by 0.4 AP. TIG-DETR achieves an impressive average accuracy of 44.1% with ResNet-50 as the backbone network.

Aluminum surface defect detection method based on a lightweight YOLOv4 network

Deep learning is currently being used to automate surface defect detection in aluminum. The common target detection models based on neural networks often have a large number of parameters and a slow detection speed, which is not conducive to real-time detection. Therefore, this paper proposes a lightweight aluminum surface defect detection model, M2-BL-YOLOv4, based on the YOLOv4 algorithm. First, in the YOLOv4 model, the complex CSPDarkNet53 backbone network was modified into an inverted residual structure, which greatly reduced the number of parameters in the model and increased the detection speed. Second, a new feature fusion network, BiFPN-Lite, is designed to improve the fusion ability of the network and further improve its detection accuracy. The final results show that the mean average precision of the improved lightweight YOLOv4 algorithm in the aluminum surface defect test set reaches 93.5%, the number of model parameters is reduced to 60% of the original, and the number of frames per second (FPS) detected is 52.99, which increases the detection speed by 30%. The efficient detection of aluminum surface defects is realized.

YOLOv5s-CBAM-DMLHead: A lightweight identification algorithm for weedy rice (Oryza sativa f. spontanea) based on improved YOLOv5

Rice (Oryza sativa L.) is one of the essential food sources for people, with rice farms producing about 480 million tons of refined rice annually. In recent years, with the development of strongly dominant hybrid rice technology, weedy rice (Oryza sativa f. spontanea) poses a serious threat to rice production and reduces the yield and quality of rice. At the seed production stage, weedy rice significantly reduces the purity of harvested seeds and even causes seed production failure. To ensure rice production and solve the challenge of rice seed production purity. In this study, we constructed WeedyRice5, a conventional weedy rice image dataset collected by a camera in a natural context, containing 6436 weedy rice images of five types of rice at the booting stage in the study area. We construct the target detection model for WeedyRice5 using the advanced YOLOv5s method, where the model mAP@0.5 was 98.2%. To improve model performance, a new YOLOv5s-CBAM-DMLHead method based on YOLOv5s is proposed to reduce the model computation and detection time. First, the detection and recognition rates are improved by replacing all C3 modules in the backbone network with CBAM attention mechanism modules. Then, by analyzing the target size in the dataset, we discover that there are more small targets and fewer large targets. Therefore, we removed the large and medium target detection feature maps from the neck network to further reduce the computational cost of the model. Finally, the online training set was expanded using the mosaic online data enhancement method, thus improving the generalizability and robustness of the model, and preventing overfitting. The experimental results demonstrate the effectiveness of the proposed model. The results show that the mAP@0.5 is 98.9%, the average detection time is 4 ms, and the computational demand is reduced by about 28% compared with the original YOLOv5s model. These results meet the requirements of precision, real-time, and lightweight features. In addition, the method inherits the lightweight features of YOLOv5 and has excellent application prospects in rice variety selection, large-area seed production, and regional trials.

SPP-extractor: Automatic phenotype extraction for densely grown soybean plants

Automatic collecting of phenotypic information from plants has become a trend in breeding and smart agriculture. Targeting mature soybean plants at the harvesting stage, which are dense and overlapping, we have proposed the SPP-extractor (soybean plant phenotype extractor) algorithm to acquire phenotypic traits. First, to address the mutual occultation of pods, we augmented the standard YOLOv5s model for target detection with an additional attention mechanism. The resulting model could accurately identify pods and stems and could count the entire pod set of a plant in a single scan. Second, considering that mature branches are usually bent and covered with pods, we designed a branch recognition and measurement module combining image processing, target detection, semantic segmentation, and heuristic search. Experimental results on real plants showed that SPP-extractor achieved respective R2 scores of 0.93–0.99 for four phenotypic traits, based on regression on manual measurements.

Dark-Center Based Insulator Detection Method in Foggy Environment

In foggy environments, outdoor insulator detection is always with low visibility and unclear targets. Meanwhile, the scale of haze simulation insulator datasets is insufficient. Aiming to solve these problems, this paper proposes a novel Dark-Center algorithm, which is a joint learning framework based on image defogging and target detection. Firstly, the dark channel prior algorithm is used to calculate the foggy sky image transmittance and then transpose it to the original image to generate a foggy-simulated insulator dataset; secondly, the defogging and restoration modules and an optimized defogging module are combined to improve the robustness of the defogging algorithm; then, for small insulator detection, the CenterNet network structure is improved to enhance the feature extraction capability for small targets; finally, the target detection accuracy in foggy environments is improved by jointly learning the structure details and color features recovered in image defogging via the defogging model and the target detection model, which effectively learn the structure details and color features recovered in image defogging. The experimental results on the CPILD dataset show that the proposed Dark-Center algorithm based on image defogging and target detection can effectively improve the performance of the target detector in foggy scenes, with a detection accuracy of 96.76%.

Detection of Missing Bolts for Engineering Structures in Natural Environment Using Machine Vision and Deep Learning

The development of an accurate and efficient method for detecting missing bolts in engineering structures is crucial. To this end, a missing bolt detection method that leveraged machine vision and deep learning was developed. First, a comprehensive dataset of bolt images captured under natural conditions was constructed, which improved the generality and recognition accuracy of the trained bolt target detection model. Second, three deep learning network models, namely, YOLOv4, YOLOv5s, and YOLOXs, were compared, and YOLOv5s was selected as the bolt target detection model. With YOLOv5s as the target recognition model, the bolt head and bolt nut had average precisions of 0.93 and 0.903, respectively. Third, a missing bolt detection method based on perspective transformation and IoU was presented and validated under laboratory conditions. Finally, the proposed method was applied to an actual footbridge structure to test its feasibility and effectiveness in real engineering scenarios. The experimental results showed that the proposed method could accurately identify bolt targets with a confidence level of over 80% and detect missing bolts under different image distances, perspective angles, light intensities, and image resolutions. Moreover, the experimental results on a footbridge demonstrated that the proposed method could reliably detect the missing bolt even at a shooting distance of 1 m. The proposed method provided a low-cost, efficient, and automated technical solution for the safety management of bolted connection components in engineering structures.

Lightweight detection networks for tea bud on complex agricultural environment via improved YOLO v4

Rapid and accurate detection of tender tea buds in the natural tea garden environment is the basis for intelligent tea picking. However, complex models result in high hardware computing power requirements and limit the deployment of tea bud recognition models in tea-picking robots. Therefore, this paper investigates a high-precision and lightweight target detection model based on improved you-only-look-once version 4(YOLOv4). The lightweight network GhostNet is used to replace the backbone of YOLOv4, and the depthwise separable convolution is designed to substitute the standard convolution, significantly reducing the computational load and computational complexity of the model. Additionally, the convolution block attention module (CBAM) is embedded into the path aggregation network (PANet), which enhances the model’s feature extraction capability. To solve the problem of detection and distinction caused by overlapping of one-bud-one-leaf and one-bud-two-leaf, this paper proposes the CIoU loss function in YOLOv4 to the SIoU loss function. The SIoU loss function considers the vector angles of the ground truth box and the prediction box and redefines the penalty indicator to improve the training speed and detection accuracy of the model. The experimental results show that the detection accuracy of the proposed approach is 85.15% for the one-bud-one-leaf and one-bud-two-leaf. The giga floating point operations per second (GFlops) and parameters are 6.594 G and 11.353 M. Relative to the original YOLOv4, the proposed algorithm’s mean accuracy is improved by 1.08%, 89.11% reduces the computational complexity, and 82.36% reduces the number of parameters. The Tea-YOLO algorithm demonstrates significantly better actual detection performance in different angles and natural environments compared to the YOLOv4 algorithm. The algorithm proposed in this paper can detect one-bud-one-leaf and one-bud-two-leaf quickly and accurately, which reduces the cost and difficulty of deploying the vision module of the tea-picking robot.

UAV-Based Low Altitude Remote Sensing for Concrete Bridge Multi-Category Damage Automatic Detection System

Detecting damage in bridges can be an arduous task, fraught with challenges stemming from the limitations of the inspection environment and the considerable time and resources required for manual acquisition. Moreover, prevalent damage detection methods rely heavily on pixel-level segmentation, rendering it infeasible to classify and locate different damage types accurately. To address these issues, the present study proposes a novel fully automated concrete bridge damage detection system that harnesses the power of unmanned aerial vehicle (UAV) remote sensing technology. The proposed system employs a Swin Transformer-based backbone network, coupled with a multi-scale attention pyramid network featuring a lightweight residual global attention network (LRGA-Net), culminating in unprecedented breakthroughs in terms of speed and accuracy. Comparative analyses reveal that the proposed system outperforms commonly used target detection models, including the YOLOv5-L and YOLOX-L models. The proposed system’s robustness in visual inspection results in the real world reinforces its efficacy, ushering in a new paradigm for bridge inspection and maintenance. The study findings underscore the potential of UAV-based inspection as a means of bolstering the efficiency and accuracy of bridge damage detection, highlighting its pivotal role in ensuring the safety and longevity of vital infrastructure.

Faster RCNN Target Detection Algorithm Integrating CBAM and FPN

In the process of image shooting, due to the influence of angle, distance, complex scenes, illumination intensity, and other factors, small targets and occluded targets will inevitably appear in the image. These targets have few effective pixels, few features, and no obvious features, which makes it difficult to extract their effective features and easily leads to false detection, missed detection, and repeated detection, thus affecting the performance of target detection models. To solve this problem, an improved faster region convolutional neural network (RCNN) algorithm integrating the convolutional block attention module (CBAM) and feature pyramid network (FPN) (CF-RCNN) is proposed to improve the detection and recognition accuracy of small-sized, occluded, or truncated objects in complex scenes. Firstly, it incorporates the CBAM attention mechanism in the feature extraction network in combination with the information filtered by spatial and channel attention modules, focusing on local efficient information of the feature image, which improves the detection ability in the face of obscured or truncated objects. Secondly, it introduces the FPN feature pyramid structure, and links high-level and bottom-level feature data to obtain high-resolution and strong semantic data to enhance the detection effect for small-sized objects. Finally, it optimizes non-maximum suppression (NMS) to compensate for the shortcomings of conventional NMS that mistakenly eliminates overlapping detection frames. The experimental results show that the mean average precision (MAP) of target detection of the improved algorithm on PASCAL VOC2012 public datasets is improved to 76.2%, which is 13.9 percentage points higher than those of the commonly used Faster RCNN and other algorithms. It is better than the commonly used small-sample target detection algorithm.

Underwater Small Target Detection Based on YOLOX Combined with MobileViT and Double Coordinate Attention

The underwater imaging environment is complex, and the application of conventional target detection algorithms to the underwater environment has yet to provide satisfactory results. Therefore, underwater optical image target detection remains one of the most challenging tasks involved with neighborhood-based techniques in the field of computer vision. Small underwater targets, dispersion, and sources of distortion (such as sediment and particles) often render neighborhood-based techniques insufficient, as existing target detection algorithms primarily focus on improving detection accuracy and enhancing algorithm complexity and computing power. However, excessive extraction of deep-level features leads to the loss of small targets and decrease in detection accuracy. Moreover, most underwater optical image target detection is performed by underwater unmanned platforms, which have a high demand of algorithm lightweight requirements due to the limited computing power of the underwater unmanned platform with the mobile vision processing platform. In order to meet the lightweight requirements of the underwater unmanned platform without affecting the detection accuracy of the target, we propose an underwater target detection model based on mobile vision transformer (MobileViT) and YOLOX, and we design a new coordinate attention (CA) mechanism named a double CA (DCA) mechanism. This model utilizes MobileViT as the algorithm backbone network, improving the global feature extraction ability of the algorithm and reducing the amount of algorithm parameters. The double CA (DCA) mechanism can improve the extraction of shallow features as well as the detection accuracy, even for difficult targets, using a minimum of parameters. Research validated in the Underwater Robot Professional Contest 2020 (URPC2020) dataset revealed that this method has an average accuracy rate of 72.00%. In addition, YOLOX’s ability to compress the model parameters by 49.6% efficiently achieves a balance between underwater optical image detection accuracy and parameter quantity. Compared with the existing algorithm, the proposed algorithm can carry on the underwater unmanned platform better.