Object Detection Method for Grasping Robot Based on Improved YOLOv5

Research on Mine-Personnel Helmet Detection Based on Multi-Strategy-Improved YOLOv11

In the complex environment of fully mechanized mining faces, the current object detection algorithms face significant challenges in achieving optimal accuracy and real-time detection of mine personnel and safety helmets. This difficulty arises from factors such as uneven lighting conditions and equipment obstructions, which often lead to missed detections. Consequently, these limitations pose a considerable challenge to effective mine safety management. This article presents an enhanced algorithm based on YOLOv11n, referred to as GCB-YOLOv11. The proposed improvements are realized through three key aspects: Firstly, the traditional convolution is replaced with GSConv, which significantly enhances feature extraction capabilities while simultaneously reducing computational costs. Secondly, a novel C3K2_FE module was designed that integrates Faster_block and ECA attention mechanisms. This design aims to improve detection accuracy while also accelerating detection speed. Finally, the introduction of the Bi FPN mechanism in the Neck section optimizes the efficiency of multi-scale feature fusion and addresses issues related to feature loss and redundancy. The experimental results demonstrate that GCB-YOLOv11 exhibits strong performance on the dataset concerning mine personnel and safety helmets, achieving a mean average precision of 93.6%. Additionally, the frames per second reached 90.3 f·s-1, representing increases of 3.3% and 9.4%, respectively, compared to the baseline model. In addition, when compared to models such as YOLOv5s, YOLOv8s, YOLOv3 Tiny, Fast R-CNN, and RT-DETR, GCB-YOLOv11 demonstrates superior performance in both detection accuracy and model complexity. This highlights its advantages in mining environments and offers a viable technical solution for enhancing the safety of mine personnel.

An intelligent emulsion explosive grasping and filling system based on YOLO-SimAM-GRCNN

For the blasting scenario, our research develops an emulsion explosive grasping and filling system suitable for tunnel robots. Firstly, we designed a system, YOLO-SimAM-GRCNN, which consists of an inference module and a control module. The inference module primarily consists of a blast hole position detection network based on YOLOv8 and an explosive grasping network based on SimAM-GRCNN. The control module plans and executes the robot's motion control based on the output of the inference module to achieve symmetric grasping and filling operations. Meanwhile, The SimAM-GRCNN grasping network model is utilized to carry out comparative evaluated on the Cornell and Jacquard dataset, achieving a grasping detection accuracy of 98.8% and 95.2%, respectively. In addition, on a self-built emulsion explosive dataset, the grasping detection accuracy reaches 96.4%. The SimAM-GRCNN grasping network model outperforms the original GRCNN by an average of 1.7% in accuracy, achieving a balance between blast holes detection, grasping accuracy and filling speed. Finally, experiments are conducted on the Universal Robots 3 manipulator arm, using distributed deployment and manipulator arm motion control mode to achieve an end-to-end grasping and filling process. On the Jetson Xavier NX development board, the average time consumption is 119.67 s, with average success rates of 87.1% for grasping and 79.2% for filling emulsion explosives.

Automatic deep learning detection of overhanging restorations in bitewing radiographs

OBJECTIVES

This study aimed to assess the effectiveness of deep convolutional neural network (CNN) algorithms for the detecting and segmentation of overhanging dental restorations in bitewing radiographs.

METHODS

A total of 1160 anonymized bitewing radiographs were used to progress the artificial intelligence (AI) system for the detection and segmentation of overhanging restorations. The data were then divided into three groups: 80% for training (930 images, 2399 labels), 10% for validation (115 images, 273 labels), and 10% for testing (115 images, 306 labels). A CNN model known as You Only Look Once (YOLOv5) was trained to detect overhanging restorations in bitewing radiographs. After utilizing the remaining 115 radiographs to evaluate the efficacy of the proposed CNN model, the accuracy, sensitivity, precision, F1 score, and area under the receiver operating characteristic curve (AUC) were computed.

RESULTS

The model demonstrated a precision of 90.9%, a sensitivity of 85.3%, and an F1 score of 88.0%. Furthermore, the model achieved an AUC of 0.859 on the receiver operating characteristic (ROC) curve. The mean average precision (mAP) at an intersection over a union (IoU) threshold of 0.5 was notably high at 0.87.

CONCLUSIONS

The findings suggest that deep CNN algorithms are highly effective in the detection and diagnosis of overhanging dental restorations in bitewing radiographs. The high levels of precision, sensitivity, and F1 score, along with the significant AUC and mAP values, underscore the potential of these advanced deep learning techniques in revolutionizing dental diagnostic procedures.

Research on a Metal Surface Defect Detection Algorithm Based on DSL-YOLO

In industrial manufacturing, metal surface defect detection often suffers from low detection accuracy, high leakage rates, and false detection rates. To address these issues, this paper proposes a novel model named DSL-YOLO for metal surface defect detection. First, we introduce the C2f_DWRB structure by integrating the DWRB module with C2f, enhancing the model's ability to detect small and occluded targets and effectively extract sparse spatial features. Second, we design the SADown module to improve feature extraction in challenging tasks involving blurred images or very small objects. Finally, to further enhance the model's capacity to extract multi-scale features and capture critical image information (such as edges, textures, and shapes) without significantly increasing memory usage and computational cost, we propose the LASPPF structure. Experimental results demonstrate that the improved model achieves significant performance gains on both the GC10-DET and NEU-DET datasets, with a mAP@0.5 increase of 4.2% and 2.6%, respectively. The improvements in detection accuracy highlight the model's ability to address common challenges while maintaining efficiency and feasibility in metal surface defect detection, providing a valuable solution for industrial applications.

A Global Dataset of Potential Chloride Deposits on Mars as Identified by TGO CaSSIS

Chloride deposits are markers for early Mars' aqueous past, with important implications for our understanding of the martian climate and habitability. The Colour and Stereo Surface Imaging System (CaSSIS) onboard ESA's Trace Gas Orbiter provides high-resolution color-infrared images, enabling a planet-wide search for (small) potentially chloride-bearing deposits. Here, we use a neural network to map potentially chloride-bearing deposits in CaSSIS images over a significant fraction of the planet. We identify 965 chloride deposit candidates with diameters ranging from <300 to >3000 m, including previously unknown deposits, 136 (~14%) of which are located in the highlands north of the equator, up to ~36°N. Northern chloride candidates tend to be smaller than in the south and are predominantly located in small-scale topographic depressions in low-albedo Noachian and Hesperian highland terranes. Our new dataset augments existing chloride deposit maps, informs current and future imaging campaigns, and enables future modelling work towards a better understanding of the distribution of near-surface water in Mars' distant past.

Combined MediaPipe and YOLOv5 range of motion assessment system for spinal diseases and frozen shoulder

Spinal diseases and frozen shoulder are prevalent health problems in Asian populations. Early assessment and treatment are very important to prevent the disease from getting worse and reduce pain. In the field of computer vision, it is a challenging problem to assess the range of motion. In order to realize efficient, real-time and accurate assessment of the range of motion, an assessment system combining MediaPipe and YOLOv5 technologies was proposed in this study. On this basis, Convolutional Block Attention Module (CBAM) is introduced into the YOLOv5 target detection model, which can enhance the extraction of feature information, suppress background interference, and improve the generalization ability of the model. In order to meet the requirements of large-scale computing, a client/server (C/S) framework structure is adopted. The evaluation results can be obtained quickly after the client uploads the image data, providing a convenient and practical solution. In addition, a game of "Picking Bayberries" was developed as an auxiliary treatment method to provide patients with interesting rehabilitation training.

Determining the Presence and Size of Shoulder Lesions in Sows Using Computer Vision

Shoulder sores predominantly arise in breeding sows and often result in untimely culling. Reported prevalence rates vary significantly, spanning between 5% and 50% depending upon the type of crate flooring inside a farm, the animal's body condition, or an existing injury that causes lameness. These lesions represent not only a welfare concern but also have an economic impact due to the labor needed for treatment and medication. The objective of this study was to evaluate the use of computer vision techniques in detecting and determining the size of shoulder lesions. A Microsoft Kinect V2 camera captured the top-down depth and RGB images of sows in farrowing crates. The RGB images were collected at a resolution of 1920 × 1080. To ensure the best view of the lesions, images were selected with sows lying on their right and left sides with all legs extended. A total of 824 RGB images from 70 sows with lesions at various stages of development were identified and annotated. Three deep learning-based object detection models, YOLOv5, YOLOv8, and Faster-RCNN, pre-trained with the COCO and ImageNet datasets, were implemented to localize the lesion area. YOLOv5 was the best predictor as it was able to detect lesions with an mAP@0.5 of 0.92. To estimate the lesion area, lesion pixel segmentation was carried out on the localized region using traditional image processing techniques like Otsu's binarization and adaptive thresholding alongside DL-based segmentation models based on U-Net architecture. In conclusion, this study demonstrates the potential of computer vision techniques in effectively detecting and assessing the size of shoulder lesions in breeding sows, providing a promising avenue for improving sow welfare and reducing economic losses.

Enhanced batch sorting and rapid sensory analysis of Mackerel products using YOLOv5s algorithm and CBAM: Validation through TPA, colorimeter, and PLSR analysis

This study employed the YOLOv5s algorithm to establish a rapid quality identification model for Pacific chub mackerel (S. japonicus) and Spanish mackerel (S. niphonius). Data augmentation was conducted using the copy-paste augmentation within the YOLOv5s network. Furthermore, a small object detection layer was integrated into the network structure's neck, while the convolutional block attention module (CBAM) was incorporated into the convolutional module to optimize the model. The model's accuracy was assessed through sensory evaluation, texture profile analysis, and colorimeter analysis. The findings indicated that the enhanced model achieved a mAP@0.5 score of 0.966, surpassing the original version's score of 0.953. Moreover, the improved model's params was only 7.848 M, and an average detection time of 115 ms/image (image resolution 2400 × 3200). Furthermore, sensory and physicochemical indicators are reliably distinguished between qualified and unqualified samples. The PLSR model exhibited R2X, R2Y, and Q2 values of 0.977, 0.956, and 0.663, respectively.

Experimental validation of computer-vision methods for the successful detection of endodontic treatment obturation and progression from noisy radiographs

PURPOSE

(1) To evaluate the effects of denoising and data balancing on deep learning to detect endodontic treatment outcomes from radiographs. (2) To develop and train a deep-learning model and classifier to predict obturation quality from radiomics.

METHODS

The study conformed to the STARD 2015 and MI-CLAIMS 2021 guidelines. 250 deidentified dental radiographs were collected and augmented to produce 2226 images. The dataset was classified according to endodontic treatment outcomes following a set of customized criteria. The dataset was denoised and balanced, and processed with YOLOv5s, YOLOv5x, and YOLOv7 models of real-time deep-learning computer vision. Diagnostic test parameters such as sensitivity (Sn), specificity (Sp), accuracy (Ac), precision, recall, mean average precision (mAP), and confidence were evaluated.

RESULTS

Overall accuracy for all the deep-learning models was above 85%. Imbalanced datasets with noise removal led to YOLOv5x's prediction accuracy to drop to 72%, while balancing and noise removal led to all three models performing at over 95% accuracy. mAP saw an improvement from 52 to 92% following balancing and denoising.

CONCLUSION

The current study of computer vision applied to radiomic datasets successfully classified endodontic treatment obturation and mishaps according to a custom progressive classification system and serves as a foundation to larger research on the subject matter.

A Two-Stage Screw Detection Framework for Automatic Disassembly Using a Reflection Feature Regression Model

For remanufacturing to be more economically attractive, there is a need to develop automatic disassembly and automated visual detection methods. Screw removal is a common step in end-of-life product disassembly for remanufacturing. This paper presents a two-stage detection framework for structurally damaged screws and a linear regression model of reflection features that allows the detection framework to be conducted under uneven illumination conditions. The first stage employs reflection features to extract screws together with the reflection feature regression model. The second stage uses texture features to filter out false areas that have reflection features similar to those of screws. A self-optimisation strategy and weighted fusion are employed to connect the two stages. The detection framework was implemented on a robotic platform designed for disassembling electric vehicle batteries. This method allows screw removal to be conducted automatically in complex disassembly tasks, and the utilisation of the reflection feature and data learning provides new ideas for further research.

Automatic Detection and Measurement of Renal Cysts in Ultrasound Images: A Deep Learning Approach

Ultrasonography is widely used for diagnosis of diseases in internal organs because it is nonradioactive, noninvasive, real-time, and inexpensive. In ultrasonography, a set of measurement markers is placed at two points to measure organs and tumors, then the position and size of the target finding are measured on this basis. Among the measurement targets of abdominal ultrasonography, renal cysts occur in 20-50% of the population regardless of age. Therefore, the frequency of measurement of renal cysts in ultrasound images is high, and the effect of automating measurement would be high as well. The aim of this study was to develop a deep learning model that can automatically detect renal cysts in ultrasound images and predict the appropriate position of a pair of salient anatomical landmarks to measure their size. The deep learning model adopted fine-tuned YOLOv5 for detection of renal cysts and fine-tuned UNet++ for prediction of saliency maps, representing the position of salient landmarks. Ultrasound images were input to YOLOv5, and images cropped inside the bounding box and detected from the input image by YOLOv5 were input to UNet++. For comparison with human performance, three sonographers manually placed salient landmarks on 100 unseen items of the test data. These salient landmark positions annotated by a board-certified radiologist were used as the ground truth. We then evaluated and compared the accuracy of the sonographers and the deep learning model. Their performances were evaluated using precision-recall metrics and the measurement error. The evaluation results show that the precision and recall of our deep learning model for detection of renal cysts are comparable to standard radiologists; the positions of the salient landmarks were predicted with an accuracy close to that of the radiologists, and in a shorter time.

Equipment Identification and Localization Method Based on Improved YOLOv5s Model for Production Line

Intelligent video surveillance based on artificial intelligence, image processing, and other advanced technologies is a hot topic of research in the upcoming era of Industry 5.0. Currently, low recognition accuracy and low location precision of devices in intelligent monitoring remain a problem in production lines. This paper proposes a production line device recognition and localization method based on an improved YOLOv5s model. The proposed method can achieve real-time detection and localization of production line equipment such as robotic arms and AGV carts by introducing CA attention module in YOLOv5s network model architecture, GSConv lightweight convolution method and Slim-Neck method in Neck layer, add Decoupled Head structure to the Detect layer. The experimental results show that the improved method achieves 93.6% Precision, 85.6% recall, and 91.8% mAP@0.5, and the Pascal VOC2007 public dataset test shows that the improved method effectively improves the recognition accuracy. The research results can substantially improve the intelligence level of production lines and provide an important reference for manufacturing industries to realize intelligent and digital transformation.

Recognition of terminal buds of densely-planted Chinese fir seedlings using improved YOLOv5 by integrating attention mechanism

Accurate and timely information on the number of densely-planted Chinese fir seedlings is essential for their scientific cultivation and intelligent management. However, in the later stage of cultivation, the overlapping of lateral branches among individuals is too severe to identify the entire individual in the UAV image. At the same time, in the high-density planting nursery, the terminal bud of each seedling has a distinctive characteristic of growing upward, which can be used as an identification feature. Still, due to the small size and dense distribution of the terminal buds, the existing recognition algorithm will have a significant error. Therefore, in this study, we proposed a model based on the improved network structure of the latest YOLOv5 algorithm for identifying the terminal bud of Chinese fir seedlings. Firstly, the micro-scale prediction head was added to the original prediction head to enhance the model's ability to perceive small-sized terminal buds. Secondly, a multi-attention mechanism module composed of Convolutional Block Attention Module (CBAM) and Efficient Channel Attention (ECA) was integrated into the neck of the network to enhance further the model's ability to focus on key target objects in complex backgrounds. Finally, the methods including data augmentation, Test Time Augmentation (TTA) and Weighted Boxes Fusion (WBF) were used to improve the robustness and generalization of the model for the identification of terminal buds in different growth states. The results showed that, compared with the standard version of YOLOv5, the recognition accuracy of the improved YOLOv5 was significantly increased, with a precision of 95.55%, a recall of 95.84%, an F1-Score of 96.54%, and an mAP of 94.63%. Under the same experimental conditions, compared with other current mainstream algorithms (YOLOv3, Faster R-CNN, and PP-YOLO), the average precision and F1-Score of the improved YOLOv5 also increased by 9.51-28.19 percentage points and 15.92-32.94 percentage points, respectively. Overall, The improved YOLOv5 algorithm integrated with the attention network can accurately identify the terminal buds of densely-planted Chinese fir seedlings in UAV images and provide technical support for large-scale and automated counting and precision cultivation of Chinese fir seedlings.

GAN-Based Image Dehazing for Intelligent Weld Shape Classification and Tracing Using Deep Learning

Weld seam identification with industrial robots is a difficult task since it requires manual edge recognition and traditional image processing approaches, which take time. Furthermore, noises such as arc light, weld fumes, and different backgrounds have a significant impact on traditional weld seam identification. To solve these issues, deep learning-based object detection is used to distinguish distinct weld seam shapes in the presence of weld fumes, simulating real-world industrial welding settings. Genetic algorithm-based state-of-the-art object detection models such as Scaled YOLOv4 (You Only Look Once), YOLO DarkNet, and YOLOv5 are used in this work. To support actual welding, the aforementioned architecture is trained with 2286 real weld pieces made of mild steel and aluminum plates. To improve weld detection, the welding fumes are denoised using the generative adversarial network (GAN) and compared with dark channel prior (DCP) approach. Then, to discover the distinct weld seams, a contour detection method was applied, and an artificial neural network (ANN) was used to convert the pixel values into robot coordinates. Finally, distinct weld shape coordinates are provided to the TAL BRABO manipulator for tracing the shapes recognized using an eye-to-hand robotic camera setup. Peak signal-to-noise ratio, the structural similarity index, mean square error, and the naturalness image quality evaluator score are the dehazing metrics utilized for evaluation. For each test scenario, detection parameters such as precision, recall, mean average precision (mAP), loss, and inference speed values are compared. Weld shapes are recognized with 95% accuracy using YOLOv5 in both normal and post-fume removal settings. It was observed that the robot is able to trace the weld seam more precisely.

YOLOv5-Ytiny: A Miniature Aggregate Detection and Classification Model

Aggregate classification is the prerequisite for making concrete. Traditional aggregate identification methods have the disadvantages of low accuracy and a slow speed. To solve these problems, a miniature aggregate detection and classification model, based on the improved You Only Look Once (YOLO) algorithm, named YOLOv5-ytiny is proposed in this study. Firstly, the C3 structure in YOLOv5 is replaced with our proposed CI structure. Then, the redundant part of the Neck structure is pruned by us. Finally, the bounding box regression loss function GIoU is changed to the CIoU function. The proposed YOLOv5-ytiny model was compared with other object detection algorithms such as YOLOv4, YOLOv4-tiny, and SSD. The experimental results demonstrate that the YOLOv5-ytiny model reaches 9.17 FPS, 60% higher than the original YOLOv5 algorithm, and reaches 99.6% mAP (the mean average precision). Moreover, the YOLOv5-ytiny model has significant speed advantages over CPU-only computer devices. This method can not only accurately identify the aggregate but can also obtain the relative position of the aggregate, which can be effectively used for aggregate detection.

Fast identification and quantification of c-Fos protein using you-only-look-once-v5

In neuroscience, protein activity characterizes neuronal excitability in response to a diverse array of external stimuli and represents the cell state throughout the development of brain diseases. Importantly, it is necessary to characterize the proteins involved in disease progression, nuclear function determination, stimulation method effect, and other aspects. Therefore, the quantification of protein activity is indispensable in neuroscience. Currently, ImageJ software and manual counting are two of the most commonly used methods to quantify proteins. To improve the efficiency of quantitative protein statistics, the you-only-look-once-v5 (YOLOv5) model was proposed. In this study, c-Fos immunofluorescence images data set as an example to verify the efficacy of the system using protein quantitative statistics. The results indicate that YOLOv5 was less time-consuming or obtained higher accuracy than other methods (time: ImageJ software: 80.12 ± 1.67 s, manual counting: 3.41 ± 0.25 s, YOLOv5: 0.0251 ± 0.0003 s, p < 0.0001, n = 83; simple linear regression equation: ImageJ software: Y = 1.013 × X + 0.776, R ² = 0.837; manual counting: Y = 1.0*X + 0, R ² = 1; YOLOv5: Y = 0.9730*X + 0.3821, R ² = 0.933, n = 130). The findings suggest that the YOLOv5 algorithm provides feasible methods for quantitative statistical analysis of proteins and has good potential for application in detecting target proteins in neuroscience.