Featured Application: We proposed a method of floating object detection, which is characterized by small sample training, strong anti-interference ability, low time consumption and high precision. The method combines spatial-based texture detection and frequency-based saliency detection. Our research is based on the natural images collected by an unmanned surface cleaning robot, which is one of the important applications in water source conservation. Abstract: In order to address the problems of various interference factors and small sample acquisition in surface floating object detection, an object detection algorithm combining spatial and frequency domains is proposed. Firstly, a rough texture detection is performed in a spatial domain. A Fused Histogram of Oriented Gradient (FHOG) is combined with a Gray Level Co-occurrence Matrix (GLCM) to describe global and local information of floating objects, and sliding windows are classified by Support Vector Machines (SVM) with new texture features. Then, a novel frequency-based saliency detection method used in complex scenes is proposed. It adopts global and local low-rank decompositions to remove redundant regions caused by multiple interferences and retain floating objects. The final detection result is obtained by a strategy of combining bounding boxes from different processing domains. Experimental results show that the overall performance of the proposed method is superior to other popular methods, including traditional image segmentation, saliency detection, hand-crafted texture detection, and Convolutional Neural Network Based (CNN-based) object detection. The proposed method is characterized by small sample training and strong anti-interference ability in complex water scenes like ripple, reflection, and uneven illumination. The average precision of the proposed is 97.2%, with only 0.504 seconds of time consumption.Few researchers have focused on floating object detection with respect to complex water surfaces. In general, the existing methods that can be applied to the detection task fall into four categories: traditional image segmentation, saliency detection, hand-crafted feature detection, and object detection based on a Convolutional Neural Network (CNN). According to different processing domains, these methods can also be classified into spatial-based methods and frequency-based methods.In spatial domain, traditional image segmentation has an excellent real-time performance [4]. Wang et al.[5] extracted contours of floating objects according to image grayscale, then framed the contours that met a special size criterion. Xue et al. [6] used the Super-pixel Merging method to segment eligible foreground regions. Tang et al. [7] used Mean-shift clustering and an improved Otsu [8] method to detect floating objects. Although these methods work well in calm water, they are not robust enough when ripples or reflections exist. To this end, Jin et al. [9] proposed an improved Gaussian Mixture Model Based (GMM-based) automatic segmentation method (IGASM) to dete...