Artificial intelligence (AI) is widely used in pattern recognition and positioning. In most of the geological exploration applications, it needs to locate and identify underground objects according to electromagnetic wave characteristics from the ground-penetrating radar (GPR) images. Currently, a few robust AI approach can detect targets by real-time with high precision or automation for GPR images recognition. This paper proposes an approach that can be used to identify parabolic targets with different sizes and underground soil or concrete structure voids based on you only look once (YOLO) v3. With the TensorFlow 1.13.0 developed by Google, we construct YOLO v3 neural network to realize real-time pattern recognition of GPR images. We propose the specific coding method for the GPR image samples in Yolo V3 to improve the prediction accuracy of bounding boxes. At the same time, K-means algorithm is also applied to select anchor boxes to improve the accuracy of positioning hyperbolic vertex. For some instances electromagnetic-vacillated signals may occur, which refers to multiple parabolic electromagnetic waves formed by strong conductive objects among soils or overlapping waveforms. This paper deals with the vacillating signal similarity intersection over union (IoU) (V-IoU) methods. Experimental result shows that the V-IoU combined with non-maximum suppression (NMS) can accurately frame targets in GPR image and reduce the misidentified boxes as well. Compared with the single shot multi-box detector (SSD), YOLO v2, and Faster-RCNN, the V-IoU YOLO v3 shows its superior performance even when implemented by CPU. It can meet the real-time output requirements by an average 12 fps detected speed. In summary, this paper proposes a simple and high-precision real-time pattern recognition method for GPR imagery, and promoted the application of artificial intelligence or deep learning in the field of the geophysical science.

Ground penetrating radar (GPR) detection is a popular technology in civil engineering. Because of its advantages of non-destructive testing (NDT) and high work efficiency, GPR is widely used to detect hard foreign objects in soil. However, the interpretation of GPR images relies heavily on the work experience of researchers, which may lead to problems of low detection efficiency and a high false recognition rate. Therefore, this paper proposes a real-time detection technology of GPR based on deep learning for the application of soil foreign object detection. In this study, the GPR image signal is obtained in real time by the GPR instrument and software, and the image signals are preprocessed to improve the signal-to-noise ratio of the GPR image signals and improve the image quality. Then, in view of the problem that YOLOv5 poorly detects small targets, this study improves the problems of false detection and missed detection in real-time GPR detection by improving the network structure of YOLOv5, adding an attention mechanism, data enhancement, and other means. Finally, by establishing a regression equation for the position information of the ground penetrating radar, the precise localization of the foreign matter in the underground soil is realized.

Pitaya fruit is a significant agricultural commodity in southern China. The traditional method of determining the ripeness of pitaya by humans is inefficient, it is therefore of the utmost importance to utilize precision agriculture and smart farming technologies in order to accurately identify the ripeness of pitaya fruit. In order to achieve rapid recognition of pitaya targets in natural environments, we focus on pitaya maturity as the research object. During the growth process, pitaya undergoes changes in its shape and color, with each stage exhibiting significant characteristics. Therefore, we divided the pitaya into four stages according to different maturity levels, namely Bud, Immature, Semi-mature and Mature, and we have designed a lightweight detection and classification network for recognizing the maturity of pitaya fruit based on the YOLOv8n algorithm, namely GSE-YOLO (GhostConv SPPELAN-EMA-YOLO). The specific methods include replacing the convolutional layer of the backbone network in the YOLOv8n model, incorporating attention mechanisms, modifying the loss function, and implementing data augmentation. Our improved YOLOv8n model achieved a detection and recognition accuracy of 85.2%, a recall rate of 87.3%, an F1 score of 86.23, and an mAP50 of 90.9%, addressing the issue of false or missed detection of pitaya ripeness in intricate environments. The experimental results demonstrate that our enhanced YOLOv8n model has attained a commendable level of accuracy in discerning pitaya ripeness, which has a positive impact on the advancement of precision agriculture and smart farming technologies.

The measurement of six-degrees-of-freedom (6-DOF) of rigid bodies plays an important role in many industries, but it often requires the use of professional instruments and software, or has limitations on the shape of measured objects. In this paper, a 6-DOF measurement method based on multi-camera is proposed, which is accomplished using at least two ordinary cameras and is made available for most morphological rigid bodies. First, multi-camera calibration based on Zhang Zhengyou’s calibration method is introduced. In addition to the intrinsic and extrinsic parameters of cameras, the pose relationship between the camera coordinate system and the world coordinate system can also be obtained. Secondly, the 6-DOF calculation model of proposed method is gradually analyzed by the matrix analysis method. With the help of control points arranged on the rigid body, the 6-DOF of the rigid body can be calculated by the least square method. Finally, the Phantom 3D high-speed photogrammetry system (P3HPS) with an accuracy of 0.1 mm/m was used to evaluate this method. The experiment results show that the average error of the rotational degrees of freedom (DOF) measurement is less than 1.1 deg, and the average error of the movement DOF measurement is less than 0.007 m. In conclusion, the accuracy of the proposed method meets the requirements.

China is the world’s leading producer of apples. However, the current classification of apple maturity is predominantly reliant on manual expertise, a process that is both inefficient and costly. In this study, we utilize a diverse array of apples of varying ripeness levels as the research subjects. We propose a lightweight target detection model, termed BGWL-YOLO, which is based on YOLOv11n and incorporates the following specific improvements. To enhance the model’s ability for multi-scale feature fusion, a bidirectional weighted feature pyramid network (BiFPN) is introduced in the neck. In response to the problem of redundant computation in convolutional neural networks, a GhostConv is used to replace the standard convolution. The Wise-Inner-MPDIoU (WIMIoU) loss function is introduced to improve the localization accuracy of the model. Finally, the LAMP pruning algorithm is utilized to further compress the model size. The experimental results demonstrate that the BGWL-YOLO model attains a detection and recognition precision rate of 83.5%, a recall rate of 81.7%, and an average precision mean of 90.1% on the test set. A comparative analysis reveals that the number of parameters has been reduced by 65.3%, the computational demands have been decreased by 57.1%, the frames per second (FPS) have been boosted by 5.8% on the GPU and 32.8% on the CPU, and most notably, the model size has been reduced by 74.8%. This substantial reduction in size is highly advantageous for deployment on compact smart devices, thereby facilitating the advancement of smart agriculture.

Hard foreign objects such as bricks, wood, metal materials, and plastics in orchard soil can affect the operational safety of garden machinery. Ground-Penetrating Radar (GPR) is widely used for the detection of hard foreign objects in soil due to its advantages of non-destructive detection (NDT), easy portability, and high efficiency. At present, the degree of automatic identification applied in soil-oriented foreign object detection based on GPR falls short of the industry’s expectations. To further enhance the accuracy and efficiency of soil-oriented foreign object detection, we combined GPR and intelligent technology to conduct research on three aspects: acquiring real-time GPR images, using the YOLOv5 algorithm for real-time target detection and the coordinate positioning of GPR images, and the construction of a detection system based on ground-penetrating radar and the YOLOv5 algorithm that automatically detects target characteristic curves in ground-penetrating radar images. In addition, taking five groups of test results of detecting different diameters of rebar inside the soil as an example, the obtained average error of detecting the depth of rebar using the detection system is within 0.02 m, and the error of detecting rebar along the measuring line direction from the location of the starting point of GPR detection is within 0.08 m. The experimental results show that the detection system is important for identifying and positioning foreign objects inside the soil.