Fuzzy target detection algorithm based on improved SSD and transfer learning

摘要

Fuzzy target detection as an important task to reflect the detection ability of underwater robot, the artificial target recognition based on the image taken by underwater robot has been widely concerned. However, there is no open standard fuzzy underwater image data set, and in the harsh deep-water fuzzy environment, it is difficult to collect large-scale marked underwater fuzzy optical images. At the same time, it is also hoped that the detection model has the ability to learn quickly from small samples in the case of as few samples as possible. Therefore, combining depth learning and transfer learning, a new method based on improved SSD and transfer learning is proposed. Firstly, we design a more accurate SSD network (underwater SSD) which is suitable for fuzzy underwater target detection. The features extracted from the detection network are highly representative. Secondly, we use the Transfer learning method to train the underwater SSD network, which can only use the tags in the air to identify fuzzy underwater objects, and have strong robustness in both the air and fuzzy underwater imaging modes. Finally, soft NMS is used to detect the target. The experimental results of the simulation data show that the algorithm not only overcomes the difficulties of the known data set of underwater target, but also effectively improves the accuracy of underwater target detection compared with the traditional deep learning method, reaching 82.31%, showing better detection performance.