A object detection and tracking method for security in intelligence of unmanned surface vehicles
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ORIGINAL RESEARCH
A object detection and tracking method for security in intelligence of unmanned surface vehicles Wei Zhang1 · Xian‑zhong Gao2 · Chi‑fu Yang1 · Feng Jiang3 · Zhi‑yuan Chen4 Received: 24 May 2020 / Accepted: 22 September 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Unmanned surface vehicle is increasingly becoming a research hotspot, which can be used in a variety of civil and military missions. However, compared with the relative maturity of other technologies, the sensing technology of unmanned surface vehicles is relatively weak. Taking "WAM-V-USV" as the research platform, this paper is mainly focus on the detection and tracking methods of moving objects with unmanned surface vehicles. This paper introduces the environment sensing system of unmanned vehicle, water surface image preprocessing, water antenna detection based on SVM, and the method of water surface object detection and tracking based on improved YOLOV3. The simulation results show that the proposed method can effectively improve the accuracy of moving object detection and tracking. Through the practical application in the Songhua River and the US Unmanned Surface Vehicles Open, it is proved that the algorithm has a good detection and tracking effect and meets the real-time requirements. Practice has proved that the object detection and tracking method based on deep learning greatly improves the perception ability and self-security of the unmanned surface vehicles. Keywords Unmanned surface vehicles · Environmental perception · Security in intelligence · Object detection · Object tracking · Field experiment verification
1 Introduction The ocean has always been an important channel for global security trade and an important national security barrier. It has an important impact on maintaining national security and developing maritime trade, so maritime surveillance is increasingly becoming a research hotspot. Unmanned surface vehicles (USV) can perform reconnaissance, search, Electronic supplementary material The online version of this article (https://doi.org/10.1007/s12652-020-02573-z) contains supplementary material, which is available to authorized users. * Wei Zhang [email protected] 1
Department of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China
2
National University of Defense Technology, Changsha, Hunan, China
3
Department of Computer Science and Technology, Harbin Institute of Technology, Harbin, China
4
School of Computer Science, University of Nottingham, Kuala Lumpur, Malaysia
detection, and demining; search and rescue, navigation, and hydrographic surveys; anti-submarine operations, anti-special operations, and patrols, piracy, and counter-terrorism attacks. The basis for accomplishing these tasks is the ability to quickly detect and track moving objects at sea (Bloisi et al. 2012; Fefilatyev and Goldgof 2008; Heidarsson and Sukhatme 2011; Huntsberger et al. 2011; Kristan, et al. 2014; Wang et al. 2011, 2012). Genera
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