{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T02:21:59Z","timestamp":1774923719417,"version":"3.50.1"},"reference-count":31,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2024,8,19]],"date-time":"2024-08-19T00:00:00Z","timestamp":1724025600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2020YFB2009602"],"award-info":[{"award-number":["2020YFB2009602"]}]},{"name":"National Key R&amp;D Program of China","award":["231100220500"],"award-info":[{"award-number":["231100220500"]}]},{"name":"National Key R&amp;D Program of China","award":["21011905"],"award-info":[{"award-number":["21011905"]}]},{"name":"Major Science and Technology Projects of Longmen Laboratory","award":["2020YFB2009602"],"award-info":[{"award-number":["2020YFB2009602"]}]},{"name":"Major Science and Technology Projects of Longmen Laboratory","award":["231100220500"],"award-info":[{"award-number":["231100220500"]}]},{"name":"Major Science and Technology Projects of Longmen Laboratory","award":["21011905"],"award-info":[{"award-number":["21011905"]}]},{"name":"Natural Science Foundation of Henan Province of China","award":["2020YFB2009602"],"award-info":[{"award-number":["2020YFB2009602"]}]},{"name":"Natural Science Foundation of Henan Province of China","award":["231100220500"],"award-info":[{"award-number":["231100220500"]}]},{"name":"Natural Science Foundation of Henan Province of China","award":["21011905"],"award-info":[{"award-number":["21011905"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Robots need to sense information about the external environment before moving, which helps them to recognize and understand their surroundings so that they can plan safe and effective paths and avoid obstacles. Conventional algorithms using a single sensor cannot obtain enough information and lack real-time capabilities. To solve these problems, we propose an information perception algorithm with vision as the core and the fusion of LiDAR. Regarding vision, we propose the YOLO-SCG model, which is able to detect objects faster and more accurately. When processing point clouds, we integrate the detection results of vision for local clustering, improving both the processing speed of the point cloud and the detection effectiveness. Experiments verify that our proposed YOLO-SCG algorithm improves accuracy by 4.06% and detection speed by 7.81% compared to YOLOv9, and our algorithm excels in distinguishing different objects in the clustering of point clouds.<\/jats:p>","DOI":"10.3390\/s24165357","type":"journal-article","created":{"date-parts":[[2024,8,19]],"date-time":"2024-08-19T10:11:28Z","timestamp":1724062288000},"page":"5357","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Object Detection and Information Perception by Fusing YOLO-SCG and Point Cloud Clustering"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1090-9667","authenticated-orcid":false,"given":"Chunyang","family":"Liu","sequence":"first","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"},{"name":"Longmen Laboratory, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhixin","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yifei","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lin","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9891-9415","authenticated-orcid":false,"given":"Xin","family":"Sui","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"},{"name":"Key Laboratory of Mechanical Design and Transmission System of Henan Province, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-8141-3722","authenticated-orcid":false,"given":"Xiaokang","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8933-4557","authenticated-orcid":false,"given":"Xiqiang","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China"},{"name":"Key Laboratory of Mechanical Design and Transmission System of Henan Province, Luoyang 471003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Redmon, J., Divvala, S., Girshick, R., and Farhadi, A. 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