Lightweight object detection algorithm based on YOLOv5 for unmanned surface vehicles

Abstract

Visual detection technology is essential for an unmanned surface vehicle (USV) to perceive the surrounding environment; it can determine the spatial position and category of the object, which provides important environmental information for path planning and collision prevention of the USV. During a close-in reconnaissance mission, it is necessary for a USV to swiftly navigate in a complex maritime environment. Therefore, an object detection algorithm used in USVs should have high detection s peed and accuracy. In this paper, a YOLOv5 lightweight object detection algorithm using a Ghost module and Transformer is proposed for USVs. Firstly, in the backbone network, the original convolution operation in YOLOv5 is upgraded by convolution stacking with depth-wise convolution in the Ghost module. Secondly, to exalt feature extraction without deepening the network depth, we propose integrating the Transformer at the end of the backbone network and Feature Pyramid Network structure in the YOLOv5, which can improve the ability of feature expression. Lastly, the proposed algorithm and six other deep learning algorithms were tested on ship datasets. The results show that the average accuracy of the proposed algorithm is higher than that of the other six algorithms. In particular, in comparison with the original YOLOv5 model, the model size of the proposed algorithm is reduced to 12.24 M, the frames per second reached 138, the detection accuracy was improved by 1.3%, and the mean of average precision (0.5) reached 96.6% (from 95.3%). In the verification experiment, the proposed algorithm was tested on the ship video collected by the “JiuHang 750” USV under different marine environments. The test results show that the proposed algorithm has a significantly improved detection accuracy compared with other lightweight detection algorithms.