The USV (unmanned surface vehicle) is playing an important role in many tasks such as marine environmental observation and maritime security, for the advantages of high autonomy and mobility. Detecting the targets on the surface of the water with high precision ensures the subsequent task implementation. However, the changes from the lights and the surface environment influence the performance of the target detecting method in a long-term task with USV. Therefore, this paper proposed a novel target detection method by fusing DenseNet in YOLOV3 to improve the stability of detection to decrease the feature loss, while the target feature is transmitted in the layers of a deep neural network. All the image data used to train and test the proposed method were obtained in the real ocean environment with a USV in the South China Sea during a one month sea trial in November 2019. The experiment results demonstrate the performance of the proposed method is more suitable for the changed weather conditions though comparing with the existing methods, and the real-time performance is available in practical ocean tasks for USV.

Detecting and classifying the plankton in situ to analyze the population diversity and abundance is fundamental for the understanding of marine planktonic ecosystem. However, the features of plankton are subtle, and the distribution of different plankton taxa is extremely imbalanced in the real marine environment, both of which limit the detection and classification performance of them while implementing the advanced recognition models, especially for the rare taxa. In this paper, a novel plankton detection strategy is proposed combining with a cycle-consistent adversarial network and a densely connected YOLOV3 model, which not only solves the class imbalanced distribution problem of plankton by augmenting data volume for the rare taxa but also reduces the loss of the features in the plankton detection neural network. The mAP of the proposed plankton detection strategy achieved 97.21% and 97.14%, respectively, under two experimental datasets with a difference in the number of rare taxa, which demonstrated the superior performance of plankton detection comparing with other state-of-the-art models. Especially for the rare taxa, the detection accuracy for each rare taxa is improved by about 4.02% on average under the two experimental datasets. Furthermore, the proposed strategy may have the potential to be deployed into an autonomous underwater vehicle for mobile plankton ecosystem observation.