To address the challenges of missed detections in water surface target detection using solely visual algorithms in unmanned surface vehicle(USV)perception,this paper proposes a method based on the fusion of visual and...To address the challenges of missed detections in water surface target detection using solely visual algorithms in unmanned surface vehicle(USV)perception,this paper proposes a method based on the fusion of visual and LiDAR point-cloud projection for water surface target detection.Firstly,the visual recognition component employs an improved YOLOv7 algorithmbased on a self-built dataset for the detection of water surface targets.This algorithm modifies the original YOLOv7 architecture to a Slim-Neck structure,addressing the problemof excessive redundant information during feature extraction in the original YOLOv7 network model.Simultaneously,this modification simplifies the computational burden of the detector,reduces inference time,and maintains accuracy.Secondly,to tackle the issue of sample imbalance in the self-built dataset,slide loss function is introduced.Finally,this paper replaces the original Complete Intersection over Union(CIoU)loss function with the Minimum Point Distance Intersection over Union(MPDIoU)loss function in the YOLOv7 algorithm,which accelerates model learning and enhances robustness.To mitigate the problem of missed recognitions caused by complex water surface conditions in purely visual algorithms,this paper further adopts the fusion of LiDAR and camera data,projecting the threedimensional point-cloud data from LiDAR onto a two-dimensional pixel plane.This significantly reduces the rate of missed detections for water surface targets.展开更多
Water quality target management in watershed is the fundamental choice of city rivers suffering both serious pollution and severe water shortage. In this study, we performed a case study regarding river pollution cont...Water quality target management in watershed is the fundamental choice of city rivers suffering both serious pollution and severe water shortage. In this study, we performed a case study regarding river pollution control plan based on water quality target management in the North Canal River catchment of Beijing section, in order to obtain effective water quality improvement programs. The ammonia nitrogen (NH3-N) and chemical oxygen demand (COD) were taken as the main controlling pollutants. Water quality targets and basic water quality improvement scenarios were set up considering different intensities of population regulation scenarios and gradually strengthening emission control measures. The MIKE11 model was adopted to simulate the effects of a range of water quality improvement scenarios. Results indicated that the basic scenarios could dramatically improve the surface water environment. However, additional intensive and combined measure programs should be implemented to ensure that the water quality would basically meet the targets of corresponding water function zones. The results highlight the need to implement water conservation in water shortage urban river basin and show the importance of enhancing drainage communication and conducting ecological water replenishment in such kind basins. It is expected to provide a reference for the water environment management practice of other metropolis in the world facing both crisis of water resource shortage and water environment pollution.展开更多
针对小目标水漂垃圾形态多变、分辨率低且信息有限,导致检测效果不理想的问题,提出一种改进的Faster-RCNN(Faster Regions with Convolutional Neural Network)水漂垃圾检测算法MP-Faster-RCNN(Faster-RCNN with Multi-scale feature an...针对小目标水漂垃圾形态多变、分辨率低且信息有限,导致检测效果不理想的问题,提出一种改进的Faster-RCNN(Faster Regions with Convolutional Neural Network)水漂垃圾检测算法MP-Faster-RCNN(Faster-RCNN with Multi-scale feature and Polarized self-attention)。首先,建立黄河兰州段小目标水漂垃圾数据集,将空洞卷积结合ResNet-50代替原来的VGG-16(Visual Geometry Group 16)作为主干特征提取网络,扩大感受野以提取更多小目标特征;其次,在区域生成网络(RPN)利用多尺度特征,设置3×3和1×1的两层卷积,补偿单一滑动窗口造成的特征丢失;最后,在RPN前加入极化自注意力,进一步利用多尺度和通道特征提取更细粒度的多尺度空间信息和通道间依赖关系,生成具有全局特征的特征图,实现更精确的目标框定位。实验结果表明,MP-Faster-RCNN能有效提高水漂垃圾检测精度,与原始Faster-RCNN相比,平均精度均值(mAP)提高了6.37个百分点,模型大小从521 MB降到了108 MB,且在同一训练批次下收敛更快。展开更多
基金supported by the National Natural Science Foundation of China(No.51876114)the Shanghai Engineering Research Center of Marine Renewable Energy(Grant No.19DZ2254800).
文摘To address the challenges of missed detections in water surface target detection using solely visual algorithms in unmanned surface vehicle(USV)perception,this paper proposes a method based on the fusion of visual and LiDAR point-cloud projection for water surface target detection.Firstly,the visual recognition component employs an improved YOLOv7 algorithmbased on a self-built dataset for the detection of water surface targets.This algorithm modifies the original YOLOv7 architecture to a Slim-Neck structure,addressing the problemof excessive redundant information during feature extraction in the original YOLOv7 network model.Simultaneously,this modification simplifies the computational burden of the detector,reduces inference time,and maintains accuracy.Secondly,to tackle the issue of sample imbalance in the self-built dataset,slide loss function is introduced.Finally,this paper replaces the original Complete Intersection over Union(CIoU)loss function with the Minimum Point Distance Intersection over Union(MPDIoU)loss function in the YOLOv7 algorithm,which accelerates model learning and enhances robustness.To mitigate the problem of missed recognitions caused by complex water surface conditions in purely visual algorithms,this paper further adopts the fusion of LiDAR and camera data,projecting the threedimensional point-cloud data from LiDAR onto a two-dimensional pixel plane.This significantly reduces the rate of missed detections for water surface targets.
文摘Water quality target management in watershed is the fundamental choice of city rivers suffering both serious pollution and severe water shortage. In this study, we performed a case study regarding river pollution control plan based on water quality target management in the North Canal River catchment of Beijing section, in order to obtain effective water quality improvement programs. The ammonia nitrogen (NH3-N) and chemical oxygen demand (COD) were taken as the main controlling pollutants. Water quality targets and basic water quality improvement scenarios were set up considering different intensities of population regulation scenarios and gradually strengthening emission control measures. The MIKE11 model was adopted to simulate the effects of a range of water quality improvement scenarios. Results indicated that the basic scenarios could dramatically improve the surface water environment. However, additional intensive and combined measure programs should be implemented to ensure that the water quality would basically meet the targets of corresponding water function zones. The results highlight the need to implement water conservation in water shortage urban river basin and show the importance of enhancing drainage communication and conducting ecological water replenishment in such kind basins. It is expected to provide a reference for the water environment management practice of other metropolis in the world facing both crisis of water resource shortage and water environment pollution.
文摘针对小目标水漂垃圾形态多变、分辨率低且信息有限,导致检测效果不理想的问题,提出一种改进的Faster-RCNN(Faster Regions with Convolutional Neural Network)水漂垃圾检测算法MP-Faster-RCNN(Faster-RCNN with Multi-scale feature and Polarized self-attention)。首先,建立黄河兰州段小目标水漂垃圾数据集,将空洞卷积结合ResNet-50代替原来的VGG-16(Visual Geometry Group 16)作为主干特征提取网络,扩大感受野以提取更多小目标特征;其次,在区域生成网络(RPN)利用多尺度特征,设置3×3和1×1的两层卷积,补偿单一滑动窗口造成的特征丢失;最后,在RPN前加入极化自注意力,进一步利用多尺度和通道特征提取更细粒度的多尺度空间信息和通道间依赖关系,生成具有全局特征的特征图,实现更精确的目标框定位。实验结果表明,MP-Faster-RCNN能有效提高水漂垃圾检测精度,与原始Faster-RCNN相比,平均精度均值(mAP)提高了6.37个百分点,模型大小从521 MB降到了108 MB,且在同一训练批次下收敛更快。