For the routine target detection algorithm in the underwater complex environment to obtain the image of the existence of blurred images, complex background and other phenomena, leading to difficulties in model feature extraction, target miss detection and other problems. Meanwhile, an improved YOLOv7 model is proposed in order to improve the accuracy and real-time performance of the underwater target detection model. The improved model is based on the single-stage target detection model YOLOv7, incorporating the CBAM attention mechanism in the model, so that the feature information of the detection target is weighted and enhanced in the spatial dimension and the channel dimension, capturing the local relevance of feature information, making the model more focused on target feature information, improved detection accuracy, and using the SPPFCSPC module, reducing the computational effort of the model while keeping the model perceptual field unchanged, improved inference speed of the model. After a large number of comparison experiments and ablation experiments, it is proved that our proposed ACFP-YOLO algorithm model has higher detection accuracy compared with Efficientdet, Faster-RCNN, SSD, YOLOv3, YOLOv4, YOLOv5 models and the latest YOLOv7 model, and is more accurate for target detection tasks in complex underwater environments advantages.
In view of the long computation time and low registration accuracy of the current point cloud registration algorithm, a point cloud registration algorithm based on the grey wolf optimizer (GWO) is proposed, denoted PCR-GW. The algorithm uses the centralization method to solve the translation matrix and then simplifies the points of the initial point cloud models by using the intrinsic shape signatures (ISS) feature. Next, various parameters of the rotation matrix are obtained via the GWO algorithm by employing the quadratic sum of the distances between corresponding points in the simplified point cloud as the objective function. Finally, the point cloud registration process is completed by using the obtained transformation matrix. By conducting a registration experiment on the point cloud library model and comparing PCR-GW with the traditional algorithms, the algorithm proposed in this paper is shown to be promising for improving the computation speed and registration accuracy. INDEX TERMS point cloud registration; feature point extraction; grey wolf optimization algorithm
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