Stabilized Sighting Algorithm in Laser Bird-Repelling Robot System

Fan Zhao; Sidi Shao; Kaidi Hui; Renjie Wei

doi:10.3788/LOP202259.0815004

Journals >Laser & Optoelectronics Progress >Volume 59 >Issue 8 >Page 0815004 > Article

Laser & Optoelectronics Progress
Vol. 59, Issue 8, 0815004 (2022)

Stabilized Sighting Algorithm in Laser Bird-Repelling Robot System

Fan Zhao^1、2、*, Sidi Shao^1、2, Kaidi Hui^1、2, and Renjie Wei^1、2

Author Affiliations

¹Department of Information Science, School of Printing, Packaging and Digital Media, Xi'an University of Technology, Xi'an , Shaanxi 710054, China

²Shaanxi Provincial Key Laboratory of Printing and Packaging Engineering, Xi'an University of Technology, Xi'an ,Shaanxi 710054, China

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DOI: 10.3788/LOP202259.0815004 Cite this Article Set citation alerts

Fan Zhao, Sidi Shao, Kaidi Hui, Renjie Wei. Stabilized Sighting Algorithm in Laser Bird-Repelling Robot System[J]. Laser & Optoelectronics Progress, 2022, 59(8): 0815004 Copy Citation Text

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Fig. 1. Schematic of system design

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Fig. 2. Diagram of hardware composition. (a) Front view of hardware; (b) side view of hardware

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Fig. 3. Flowchart of flying bird stabilized sighting algorithm

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Fig. 4. Bird detection mechanism in images

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Fig. 5. Positive and negative samples of different targets

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Fig. 6. Target detection effect examples. (a) Infrared images; (b) visible images

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Fig. 7. Flying bird tracking performance of different algorithms. (a) Visible image; (b) infrared image

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Fig. 8. Examples of flying bird tracking results. (a) Visible image; (b) infrared image

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Network layer	Conv1_x	Conv2_x	Conv3_x	Conv4_x	Conv5_x
Kernel size	7×7， 64， stride is 23×3 maxpool， stride is 2	$[\begin{array}{l} 1 \times 1,64 \\ 3 \times 3,64 \\ 1 \times 1,256 \end{array}] \times 3$	$[\begin{array}{l} 1 \times 1,64 \\ 3 \times 3,64 \\ 1 \times 1,256 \end{array}] \times 3$	$[\begin{array}{l} 1 \times 1,64 \\ 3 \times 3,64 \\ 1 \times 1,256 \end{array}] \times 3$	$[\begin{array}{l} 1 \times 1,64 \\ 3 \times 3,64 \\ 1 \times 1,256 \end{array}] \times 3$
Output size	$112 \times 112$	$56 \times 56$	$28 \times 28$	$14 \times 14$	$7 \times 7$

Table 1. ResNet-50 network structure

Algorithm	Backbone	Year	Infrared video sequence			Visible video sequence
Algorithm	Backbone	Year	P /%	R /%	F1 /%	P /%	R /%	F1 /%
Faster R-CNN^［12］	ResNet-50	2017	84.8	80.2	82.4	82.4	80.6	81.5
YOLOv4^［16］	CSPDarnet53	2020	95.2	92.8	94.0	92.1	89.4	90.7

Table 2. Detection performance of different algorithms

Fan Zhao, Sidi Shao, Kaidi Hui, Renjie Wei. Stabilized Sighting Algorithm in Laser Bird-Repelling Robot System[J]. Laser & Optoelectronics Progress, 2022, 59(8): 0815004

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