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All Journal EMITTER International Journal of Engineering Technology
Norhaliza Abdul Wahab, Norhaliza
Universiti Teknologi Malaysia
Computer Science & IT

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Journal : EMITTER International Journal of Engineering Technology

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FloYO-Net: Enhancing Small Floating Waste Detection in Natural Waters Using Atrous YOLOv5s Badams, Badiu; Ullah Sheikh, Usman; Syed Abu Bakar, Syed Abd Rahman; Abdul Wahab, Norhaliza
EMITTER International Journal of Engineering Technology Vol 13 No 2 (2025)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v13i2.978

Abstract

Detecting small and partially hidden objects in rivers and water bodies remains a major challenge for real-time waste detection systems. These objects are often missed due to their small size, low contrast, and cluttered surroundings. Further complicating the task is the lack of dedicated datasets focused on small floating debris, limiting the development of more capable detection models. To bridge this gap, we developed D_six, a custom dataset of 495 high-resolution images capturing six classes of floating waste under real-world conditions. In this study, we improve the YOLOv5s object detection model by integrating atrous convolutions at three key backbone layers: P1/2, P3/8, and P5/32. These layers represent different scales of the feature pyramid, and the strategic placement of atrous convolution at each level plays a crucial role in helping the model recognize small and occluded objects more effectively. Using a dilation rate of 6, the model’s receptive field is expanded without increasing its size or slowing it down. When trained and evaluated on the D_six data set, the FloYO-Net (Floating Object YOLO Network) consistently outperformed the standard YOLOv5s, achieving a mean Average Precision (mAP@0.5) of 0.828 and mAP@0.5:0.95 of 0.509, compared to 0.787 and 0.498 respectively. Improvements were especially notable for hard-to-detect items like plastic bottles and plastic drink containers, with average precision gains of 6.6% and 7.1%, respectively. These results demonstrate that atrous convolution — when thoughtfully placed — can significantly improve detection accuracy, making it a powerful enhancement for real-time environmental cleanup systems.
Co-Authors Badams, Badiu Syed Abu Bakar, Syed Abd Rahman Ullah Sheikh, Usman