Search Results (135)

Residual creases generated during the leather spreading process exhibit highly variable morphologies and irregular feature distributions, causing significant challenges for feature extraction and leading to low localization accuracy. To address these issues, this paper proposes the Dynamic, Cross-Calibrated, and Edge-Enhanced YOLOv8n-Pose (DCE-YOLOv8n-Pose) algorithm. Instead of providing regional approximations, this framework outputs precise spatial coordinates for robotic grasping by integrating three synergistic components in a progressive network flow. First, dynamic snake convolution adaptively perceives the continuous geometric features of elongated creases; subsequently, an efficient multi-scale attention mechanism provides cross-dimensional weight calibration to suppress highly homochromatic background interference and correct spatial misalignments; finally, an edge-enhanced content-aware reassembly of features module preserves high-frequency gradients and prevents feature fracturing during multi-scale fusion. For comprehensive evaluation, a dataset comprising 700 original laboratory images was constructed. To prevent data leakage, the dataset was partitioned into training and validation sets based on individual leather specimens, ensuring that images of the same leather piece do not appear in both sets. Additionally, an independent test set of 500 images collected from an actual processing plant was designed for industrial validation. Experimental results indicate that, at an Intersection over Union (IoU) threshold of 0.5, the DCE-YOLOv8n-Pose model achieves a bounding box mean average precision (mAP@0.5) of 91.8% and a keypoint mAP@0.5 of 85.1%, with a keypoint precision of 87.9%. The computational load is maintained at 9.2 GFLOPs, alongside an inference speed of 114.3 FPS. Furthermore, consistent convergence across four independent training runs substantiates the model’s reliability in reducing missed detection rates and localization deviations. In conclusion, the proposed algorithm demonstrates practical applicability for the visual guidance of automated leather spreading equipment by balancing detection precision and inference speed, thereby offering an effective coordinate reference for subsequent robotic stretching operations. Full article

Steel surface defect detection remains challenging due to difficulties in multi-scale feature extraction, limited effectiveness of heterogeneous feature fusion, and loss of spatial detail information. To address these issues, this paper proposes CCP-YOLO, an improved steel surface defect detection algorithm based on YOLOv11n. The proposed method introduces four targeted improvements: (1) a Multi-Scale Dilated Reparameterization module (C3k2_MSD) for enhanced multi-scale feature extraction via a three-branch parallel reparameterization architecture; (2) an Interactive Adaptive Feature Fusion Module (IAFM) for effective integration of heterogeneous features; (3) a Progressive Shared-Weight Context Aggregation (PSWCA) module replacing the original SPPF structure to preserve spatial detail; and (4) a Wise-Inner-MPDIoU fusion loss function for improved bounding box regression accuracy and stability. Experimental results on the NEU-DET dataset demonstrate that CCP-YOLO achieves an mAP50 of 80.2%, representing a 4.1 percentage-point improvement over the YOLOv11n baseline, with a recall of 0.754, 2.7 M parameters, 6.6 GFLOPs, and an inference speed of 133.14 FPS. Further validation on the GC10-DET dataset confirms a 3.7 percentage-point improvement in mAP50. These results indicate that CCP-YOLO effectively enhances detection accuracy while maintaining computational efficiency, demonstrating strong potential for real-world industrial deployment. Full article

Foggy ship detection frequently suffers from image degradation, blurred object contours and a high missed detection rate. Moreover, most existing maritime datasets lack adequate real fog samples. To solve the above problems, in this paper, the Fog-SMD is constructed on the basis of atmospheric scattering principles and fractal theory in combination with a diffusion model to enrich samples covering various fog scenarios. On this basis, we develop an improved SF-YOLO model that takes YOLOv12 as the basic framework. By embedding the shallow–deep adaptive feature fusion module, scattering-guided refinement module and spatial-frequency dual feature attention module, the model can effectively alleviate feature loss resulting from image degradation in foggy environments. Weighted-EIoU loss is introduced to optimize the bounding box regression and reduce the localization deviation of slender ship targets. The experimental results show that SF-YOLO achieves mAP@50 and mAP@50:95 values of 79.3% and 61.6%, respectively, and outperforms mainstream detection algorithms; compared with YOLOv12n, it improves mAP@50:95 from 59.6% to 61.6%, with only a slight increase in parameters from 2.5 M to 2.8 M, providing a new solution for the practical deployment of detection systems and all-weather maritime monitoring in low-visibility foggy scenarios. Full article

In cotton disease detection, the complex farmland environment and the varying scales of disease spots, especially the presence of small-target disease spots, limit the detection accuracy of lightweight models. To address this issue, an improved YOLOv11n detection algorithm is proposed. First, the backbone network is reconstructed using the GhostConv (G-conv) module, which generates redundant feature maps through linear operations, thereby reducing computational complexity. Second, an Adaptive Calibration and Feature Fusion Architecture Head (ACFFA) with prior calibration and cross-scale fusion capabilities is constructed in the detection stage to handle the problem of varying disease spot scales. Furthermore, the Adaptive Scale-aware Wise Intersection over Union (AS-WIoU) loss function, improved from WIoUv3, is introduced to enhance the stability of bounding box regression and improve detection accuracy for low-resolution, small-target lesions. Experimental results show that on the cotton disease dataset constructed based on the Mendeley Data database, the proposed model achieves mAP50 and mAP50-95 of 90.30% and 73.84%, respectively, with precision and recall of 92.33% and 87.68%, and a parameter count of 3.81 M. The algorithm significantly improves detection accuracy while maintaining efficient inference, making it suitable for real-time monitoring tasks on agricultural embedded terminals. Full article

Crack detection in mobile inspection scenarios is constrained by both the extremely slender geometry of crack targets and the real-time inference requirements on edge devices, which expose systematic limitations of general-purpose object detectors. This paper proposes YOLO-Crack, a closed-loop solution that couples geometry-statistics-driven module design with end-to-end edge deployment validation. On the algorithmic side, we first quantify crack geometric properties and then introduce (i) a crack-aware cross-dimensional fusion attention (CFCA) module to strengthen feature representations, (ii) a dual-path feature enhancement module (DFEM) to preserve fine details during upsampling, and (iii) an empirical smooth quality window adjustment with shape consistency regularization to stabilize bounding-box regression for slender cracks. Experiments on the Crack500 dataset show that YOLO-Crack achieves 78.8% precision, 51.4% recall, and 65.7% mAP@0.5, improving over the YOLOv11n baseline by 4.2, 1.7, and 2.9 percentage points, respectively. On the engineering side, we deploy YOLO-Crack on a Jetson Orin NX mobile robot platform and evaluate it in a real ROS pipeline; the measured end-to-end throughput reaches 25.5 FPS, meeting real-time video processing requirements. The proposed framework provides a practical reference workflow for edge vision tasks, from geometry analysis to engineering verification. Full article

Stainless steel pipes are critical components in industrial systems such as oil and gas transportation and nuclear power cooling. Surface defects can severely degrade their mechanical performance and operational safety. However, existing inspection methods still face challenges including difficult feature extraction, strong reflection interference, and limited accuracy in small-target detection. To address these issues, this paper proposes an improved detection algorithm termed YOLOv8s-BISW (incorporating BiFPN, SGE attention, and WIoU loss), which introduces multidimensional optimizations based on the YOLOv8s baseline. First, an image enhancement module combining Gamma correction and Contrast Limited Adaptive Histogram Equalization (CLAHE) is designed to mitigate uneven illumination and blurred defect imaging. Second, a Bidirectional Feature Pyramid Network (BiFPN) structure is introduced to strengthen multi-scale feature fusion and improve adaptability to defects of different sizes. Meanwhile, a Spatial Group-wise Enhance (SGE) attention module is embedded into the backbone to enhance defect feature representation while suppressing background interference. Furthermore, the Wise Intersection over Union (WIoU) loss function replaces Complete IoU (CIoU) to improve bounding box regression for irregular defects. Experimental results show that the proposed model achieves an mAP of 0.979 on a self-constructed Stainless-steel Tube Flaw (STF) dataset. Compared with the original YOLOv8s, precision, recall, and mAP are improved by 0.007, 0.010, and 0.033, respectively, while the average detection time per image is only 3.7 ms, achieving a favorable balance between accuracy and real-time performance. Compared with mainstream algorithms such as SSD, YOLOv3, and Faster R-CNN, the proposed method demonstrates superior overall performance, providing reliable technical support for automated surface defect detection of stainless steel pipes and offering practical value for intelligent manufacturing quality control. Full article

Surface defect detection technology is important to improve product quality and save production costs. In order to realize automatic detection of copper tube surface defects, an improved YOLOX algorithm is proposed based on convolutional block attention (CBA) and adaptive spatial feature fusion (ASFF), named as CBA-ASFF-YOLOX. The improved YOLOX backbone feature extraction network is replaced with CSPDarknet-53. Then, we construct a convolutional block attention module and an adaptively spatial feature fusion module in the feature fusion part to enhance the spatial position correlation between features by learning the connections between different feature maps. To solve the unbalanced differences in real label samples, we utilize Focal Loss function to replace the cross-entropy loss function. In addition, the bounding box regression loss in this study is based on the SIoU formulation, and a simplified variant is adopted to improve regression quality and facilitate more stable convergence. Finally, the algorithm is applied to copper tube surface defect detection task. Experimental results show that the accuracy of CBA-ASFF-YOLOX algorithm is higher than those of other series of YOLO algorithm. Full article

In vision-based low-altitude unmanned aerial vehicle (UAV) remote sensing, detecting small targets accurately and maintaining stable tracking under fast-motion conditions remain significant challenges. Specifically, small-object detection suffers from low feature representation, while camera motion often induces tracking drift and identity switches. To address these issues, this paper proposes a novel small target detection and tracking algorithm named TCYOLO-SofByteTrack, which integrates an improved YOLOv11 with ByteTrack. The algorithm comprises two core innovative modules: First, the TCYOLO detector is designed by integrating the C3k2-TA feature enhancement module with triplet attention mechanism to achieve cross-dimensional interaction modeling, significantly improving small target feature representation capability and network contextual awareness. A Cross-Scale Feature Fusion Module for UAVs (CCFM-UAV) is constructed to provide precise detection support for small targets at different scales. Second, building upon the ByteTrack framework, the SofByteTrack tracker is designed, which introduces a sparse optical flow-based motion compensation strategy. This strategy estimates and compensates for image displacement caused by UAV motion in real time, ensuring the stability of target bounding boxes under fast-motion conditions, thereby effectively mitigating tracking drift and identity switches. Experimental results demonstrate that the TCYOLO detector achieves a 7.4% improvement in mAP for small target detection compared to the baseline YOLOv11 model. The complete TCYOLO-SofByteTrack tracking algorithm achieves a HOTA score of 45.3%, MOTA of 42.7%, and IDF1 of 57.8%, representing improvements of 4.5%, 5.9%, and 8.0%, respectively, over the baseline methods. Furthermore, the number of successfully tracked targets increased by 37.3%, while identity switches decreased by 23.4%. These results demonstrate the notable advantages of the proposed method in small target detection accuracy, tracking precision, and identity consistency. Its generalization capability is further validated on a custom highway inspection dataset. Moreover, deployment tests on an NVIDIA Jetson Orin NX platform show that, compared to YOLOv11n, the proposed algorithm achieves higher detection accuracy while still meeting real-time processing requirements, highlighting its practical applicability in resource-constrained scenarios. Full article

To address the challenges of insufficient small target recognition, difficulty in edge information extraction, and high computational overhead in insulator defect detection, this paper proposes a lightweight detection method based on the YOLO-MLSL model for transmission line insulator defect detection. First, a C2f-LRFCA module is introduced, effectively enhancing feature interaction through a long-range convolutional attention mechanism, thereby improving the perception of fine-grained defects. Second, an MEUM multi-scale feature enhancement module is designed to achieve more efficient contextual information fusion during upsampling, improving the detection performance for multi-scale targets. Third, the ShapeIoU loss function is employed to improve the bounding box regression accuracy in complex backgrounds, and LAMP pruning technology significantly reduces the model’s computational and storage overhead. Experimental results show that the improved algorithm achieves an mAP@0.5 of 85.4%, a 4.1% improvement compared to the original YOLOv8n, while maintaining a low parameter count and computational complexity, demonstrating both high accuracy and efficiency. This research provides a valuable reference for the design and application of lightweight target detection models in the intelligent inspection of power equipment. Full article

The field of intelligent transportation on inland waterways is experiencing rapid growth, driven by the global pursuit of enhanced waterway safety, operational efficiency, and environmental sustainability. In real-world autonomous operation scenarios of unmanned surface vehicles (USVs), image-based 2D object detection methods are insufficient to meet the demands of 3D environmental modeling and accurate perception of dynamic objects. Existing 3D perception systems for USVs depend heavily on precise sensor calibration. However, projection offsets between point clouds and images—caused by water surface fluctuations and complex outdoor environments—hinder the practical deployment of these methods. To address these limitations, we propose a weak calibration multi-modal 3D object detection algorithm based on cross-view fusion, termed RCF-Free (Radar-Camera Fusion, Free from precise calibration). Inspired by autonomous driving solutions, we design a Triple-Path Cross-View Fusion module that achieves high-quality cross-view feature fusion without requiring accurate calibration parameters, while simultaneously detecting complete bird’s-eye view (BEV) bounding boxes. We further enhance the spatial layout comprehension of the visual branch through a Mobile Self-Attention Module (MAM) and effectively encode sparse point cloud features in BEV space using a dedicated BEV-Point feature encoder. Additionally, we reconstruct and introduce two water-related 3D object detection datasets, FloW-BEV and WaterScenes-BEV. Experimental results demonstrate that RCF-Free achieves $\mathrm{m}\mathrm{A}{\mathrm{P}}_{\mathrm{B}\mathrm{E}\mathrm{V}}50$ scores of 60.5% and 69.3% on the FloW-BEV and WaterScenes-BEV datasets, respectively, showing the effectiveness in water surface object detection. Moreover, on the DAIR-V2X-I dataset for autonomous driving scenarios, the model attains $\mathrm{m}\mathrm{A}{\mathrm{P}}_{3\mathrm{D}}50$ scores of 73.3%, 61.2%, and 61.2% across three task difficulty levels, illustrating strong cross-domain generalization capability. Full article

The growth in international trade has precipitated operational demands on port facilities, mandating the development of advanced intelligent monitoring systems. Existing ship detection algorithms struggle with feature confusion and difficulty in extracting contextual features under occlusion, which reduces the discriminability between object features and background noise. This leads to positional misalignment and mismatching of similar targets, which reduce the detection accuracy. To resolve this, we propose OShipNet, an architecture engineered to optimize feature fusion and refinement for occluded ship detection. First, we design the OShipNeXt backbone network, which provides complementary feature representation in frequency and spatial domains. This approach enables the reconstruction of global–local semantic associations for occluded objects, enhancing feature representation and improving detection accuracy. Secondly, to further refine target boundaries, we develop a Multiscale Pooling Attention Module (MSPAM) to enhance contextual awareness and better capture occluded edge features. Furthermore, we propose a dual-path cooperative loss function that mitigates the effects of low-quality bounding boxes. Comprehensive evaluations on the MVDD13 dataset demonstrate the robustness of OShipNet, which achieved 94.98% mAP@50 and 84.37% mAP@50-95, demonstrating advantages over existing object detection methods and establishing an effective framework for intelligent port monitoring. Full article

Ship target detection is a prerequisite for achieving automated monitoring in ship detection systems. To address the challenge of accurately detecting ship targets in complex water environments, this study proposes a ship target detection method based on an improved YOLOv11 framework. To enhance the model’s ability to perceive and fuse features across multiple scales and in complex backgrounds, an Iterative Attention Feature Fusion (iAFF) module and a Biformer module are integrated at the end of the backbone network. The iAFF module iteratively optimizes multi-scale features through a two-stage attention mechanism, effectively focusing on key target regions, thereby improving the model’s detection capability for small, medium-sized, and occluded ships. The Biformer module leverages its innovative Bi-level Routing Attention (BRA) mechanism to enhance the modeling of global semantic information while reducing computational complexity, mitigating false detections caused by occlusions among ship targets, and consequently improving detection precision. This study employs the Minimum Point Distance Intersection over Union (MPDIoU) loss function, which more comprehensively measures the similarity between predicted and ground-truth bounding boxes by optimizing the distances of their key geometric points, effectively enhancing the accuracy of bounding box regression. Experimental results show that the proposed model achieved 93.96% mAP, 92.93% recall, and 94.97% precision on a self-built ship dataset, surpassing mainstream detection algorithms including YOLOv11 in multiple metrics. The model has only 2.90 M parameters, achieving a good balance between accuracy and efficiency. This provides an accurate and efficient solution for intelligent ship supervision. Full article

With the rapid advancement of autonomous driving in modern society, dense pedestrian detection technology has encountered performance bottlenecks. To address this, we propose a robust and lightweight pedestrian detection algorithm, RMP-YOLO, designed to efficiently detect small, occluded, and low-light objects. Firstly, RFAConv is utilized as the core component of the backbone network, combining standard convolution with attention mechanisms and using group convolution to extract features from the spatial receptive field. Secondly, MobileViTv3 is introduced into the backbone to combine CNNs with Transformers. The model is further enhanced by adjusting feature fusion, introducing residual connections, and optimizing local representation with deep convolutional layers. Finally, the PIoUv2 loss function is employed for bounding-box regression, significantly reducing detection errors for small-scale pedestrians in crowded environments. Experimental results demonstrate that RMP-YOLO improves mAP@0.5 by 1.3% on a custom dataset and 0.91% on the WiderPerson dataset. Crucially, it maintains high efficiency with only 3.71 million parameters and 6.29 GFLOPs, meeting the deployment requirements for low computational power and high precision. Full article

High-precision identification and three-dimensional (3D) positioning of cabbage plants across their entire growth cycle are fundamental prerequisites for automated agricultural management. To overcome field challenges like extreme morphological variations, severe leaf occlusion, and bounding box jitter, we introduce a camera-LiDAR fusion perception system. First, an advanced SCEW-YOLOv8 architecture is proposed, sequentially integrating SPD-Conv downsampling, a C2f-CX global feature enhancement module, an EMA cross-space attention mechanism, and the WIoU v3 loss function. Evaluated on a comprehensive whole-growth-cycle cabbage dataset, the model achieves 95.8% mAP@0.5 and 90.8% recall with a real-time inference speed of 64.2 FPS. Furthermore, a visual semantic-driven camera-LiDAR fusion ranging algorithm is developed. Through rigorous spatiotemporal synchronization and cascaded outlier filtering, the integrated system achieves millimeter-level 3D localization within the typical 1.0–2.0 m operating range of agricultural robots. It maintains a Mean Absolute Error (MAE) of only 1.45 mm in the longitudinal direction at a stable processing throughput of 20 FPS. Compared to traditional pure vision depth estimation, this heterogeneous fusion approach achieves a remarkable 96.3% reduction in spatial positioning error at extended distances, fundamentally eliminating depth degradation caused by complex illumination. Ultimately, this system provides a highly robust, full-cycle geometric perception framework for the autonomous management of open-field green cabbage. Full article

In intelligent transportation systems and urban traffic management, accurate vehicle area intrusion detection based on surveillance imagery plays a critical role in ensuring road safety and operational efficiency. However, under real-world road surveillance conditions characterized by complex backgrounds, varying illumination, occlusion, and scale variations, mainstream detection algorithms often suffer from high false detection and missed detection rates, limiting their reliability and practical deployment. To address these challenges, this paper proposes YOLOv10-Intrusion, a high-precision vehicle area intrusion detection framework based on an improved version of YOLOv10s. The proposed algorithm incorporates Omni-Dimensional Dynamic Convolution (ODConv) and a custom-designed RCS_M module to enhance feature extraction and fine-grained recognition capability. In addition, a Bidirectional Feature Pyramid Network (BiFPN) is employed to optimize multi-scale feature fusion at the neck level. These improvements collectively reduce false detections and missed detections while improving model recall and mean Average Precision (mAP). Furthermore, the Wise-IoU (WIoU) loss function replaces the original Complete IoU (CIoU) loss to accelerate convergence and stabilize bounding box regression under complex surveillance conditions. A dedicated vehicle area intrusion dataset is constructed from real-world road surveillance footage, covering five vehicle categories across diverse road environments and lighting conditions. Experimental results demonstrate that, compared with the baseline YOLOv10s, YOLOv10-Intrusion achieves improvements of 1.5, 3.3, 3.6, and 2.8 percentage points in Precision, Recall, mAP@0.5, and mAP@0.5:0.95, respectively, and outperforms other mainstream detection algorithms in vehicle area intrusion detection tasks. Full article