Target detection method, system and related equipment of underwater vehicle

Abstract

The invention relates to the field of robot vision, pattern recognition and machine learning, in particular to an underwater robot target detection method, a system and related equipment, aiming at improving the robustness of target detection technology to underwater target occlusion, deformation and illumination changes. The object detection method of the invention comprises the following steps:obtaining an original image to be detected; normalizing the pixel value of the original image to be detected, and obtaining the image to be detected after preprocessing; the preprocessed image being input into the target detection network for detection, and the bounding frame of the region of interest and the probability of belonging to each target class being obtained; according to the bounding box of ROI and the probability of belonging to each target class, the improved non-maximum suppression algorithm being used to obtain the bounding box and the class of the target object, wherein, a deformable convolution neural network is used to extract feature map in the target detection network, and the candidate region method is used to detect the target. The detection method of the invention improves the detection precision under the condition of guaranteeing the speed.

Description

technical field [0001] The invention relates to the fields of robot vision, pattern recognition and machine learning, in particular to a target detection method, system and related equipment of an underwater robot. Background technique [0002] Object detection is a technique to detect and recognize objects from a sequence of images containing objects. The scene object detection of the robot is the key link to realize the interaction between the robot and the environment and the completion of complex intelligent tasks in the unknown environment. In practical applications, due to the complexity of the scene where the target is located, occlusion, deformation, illumination, and scale changes all increase the difficulty of the detection task. Target detection has applications in many fields of robot vision, including robot grasping tasks, assembly tasks, detection tasks, etc. in a specific environment. A robust robot-specific scene target detection technology has important pra...

AI Technical Summary

Problems solved by technology

[0012] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing detection system is not efficient enough and accurate, and the adaptability in the marine environment is not

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