The application belongs to the technical field of
underwater robot visual perception,
edge computing and target detection, and discloses an
underwater target automatic identification method and
system based on an improved YOLO
algorithm, wherein the post-
processing speed is greatly improved, an INT8 domain pre-confidence screening mechanism filters more than 90% of background candidate boxes, the time consumption ratio of post-
processing is reduced from more than 30% of the traditional to less than 10%, and the overall operation speed of the application is significantly improved. The application has good real-time performance, a multi-thread parallel
inference pipeline architecture fully utilizes the heterogeneous computing power of RK3588S, hides single-frame
inference delay, realizes stable real-time detection
frame rate of 15-25 FPS under 1280*720 resolution, and can timely capture fast-moving
underwater targets. The application has high integration, realizes
deep integration of the identification application and technologies such as mechanical grabbing and autonomous return, forms a full-autonomous operation
closed loop of identification-positioning-grabbing, and the autonomous decision rate is more than 90%, thereby greatly reducing the dependence on manual operation.