Search Results (137)

The acquisition of side-scan sonar (SSS) images is complex, expensive, and time-consuming, making it difficult and sometimes impossible to obtain rich image data. Therefore, we propose a novel image generation algorithm to solve the problem of insufficient training datasets for SSS-based target detection. For zero-sample detection, we proposed a two-step style transfer approach. The ray tracing method was first used to obtain an optically rendered image of the target. Subsequently, UA-CycleGAN, which combines U-net, soft attention, and HSV loss, was proposed for generating high-quality SSS images. A one-stage image-generation approach was proposed for few-sample detection. The proposed ADA-StyleGAN3 incorporates an adaptive discriminator augmentation strategy into StyleGAN3 to solve the overfitting problem of the generative adversarial network caused by insufficient training data. ADA-StyleGAN3 generated high-quality and diverse SSS images. In simulation experiments, the proposed image-generation algorithm was evaluated subjectively and objectively. We also compared the proposed algorithm with other classical methods to demonstrate its advantages. In addition, we applied the generated images to a downstream target detection task, and the detection results further demonstrated the effectiveness of the image generation algorithm. Finally, the generalizability of the proposed algorithm was verified using a public dataset. Full article

In response to the problem of stripe noise significantly reducing the clarity and details of side-scan sonar images due to various factors, the authors of this paper propose an improved Criminisi method for stripe noise suppression. To address the issues encountered in the Criminisi algorithm during the suppression of stripe noise in side-scan sonar images, the following steps are suggested: firstly, introduce dynamic weights in the priority calculation to adaptively adjust the confidence and data term weights based on the current patch’s texture complexity; secondly, utilize the Sobel operator in the data term calculation to capture the image edge information more accurately; and, thirdly, optimize the matching block search process by introducing the Manhattan distance in addition to the Sum of Squared Differences (SSD) criterion to further select the best matching block while transitioning from a global search to a local search. Experimental validation was conducted using simulated stripe noise images, comparing the proposed method with four traditional denoising techniques. The results demonstrate that the denoising effectiveness of the proposed method is superior, effectively restoring texture in noisy regions while preserving texture structure integrity. Ablation experiments validate the effectiveness of the proposed improvements. Denoising experiments on real noisy images show satisfactory results with this method, and combining it with Fourier transform for additional smoothing in certain cases may yield even better results. Full article

Coralligenous bioconstructions are biogenic calcareous formations developing at low irradiance on littoral rocky cliffs or on the deeper sub-horizontal bottom in the Mediterranean Sea. Unusually shallow coralligenous banks on the sandy coast of Sinuessa (Mondragone City, Gulf of Gaeta, SW Italy) were investigated. Their communities and the surrounding biogenic detritus were characterized. Geophysical and acoustic data revealed the presence of coralligenous banks between 7.5 and 15 m depth, showing constant thickness and sub-horizontal geometry, incised by sub-perpendicular channels. Sediment deposits ranging from silty sands to bioclastic gravel occur in the area. The biogenic detritus of the soft bottom sampled around the coralligenous banks is highly heterogeneous. Through the thanatocoenosis analysis of macrozoobenthos, different biocenoses were detected, among which the coralligenous and photophilic habitats are mainly represented, followed by the well-calibrated fine sands and the relit sands. A total of 16 different species and 10 epimegabenthic morphological groups (MGs) were detected on the coralligenous banks, of which 4 are included in European regulation for threatened species. The density of epimegabenthic organisms has an average of 10.34 ± 5.46 individuals or colonies/100 m². Cladocora caespitosa is the dominant species, with a height of 17 ± 5 cm. This and other structuring species (SS) were larger in size in the sampled sites than in the literature data. Overall, coralligenous had a “medium” health status, with 52% of the individuals or colonies in healthy conditions, compared to 47% with epibiosis phenomena and 1% with entanglement. Longlines were the most common anthropogenic litter, with a density of 2/100 m². Ad hoc monitoring programs and conservation measures would be desirable to protect and guarantee the well-being of these sensitive and rare shallow bioconstructions. Full article

Autonomous Underwater Vehicles (AUVs) equipped with Side-Scan Sonar (SSS) play a critical role in seabed mapping, where precise navigation data are essential for mosaicking sonar images to delineate the seafloor’s topography and feature locations. However, the accuracy of AUV navigation, based on Strapdown Inertial Navigation System (SINS)/Doppler Velocity Log (DVL) systems, tends to degrade over long-term mapping, which compromises the quality of sonar image mosaics. This study addresses the challenge by introducing a post-processing navigation method for AUV SSS surveys, utilizing Factor Graph Optimization (FGO). Specifically, the method utilizes an improved Fourier-based image registration algorithm to generate more robust relative position measurements. Then, through the integration of these measurements with data from SINS, DVL, and surface Global Navigation Satellite System (GNSS) within the FGO framework, the approach notably enhances the accuracy of the complete trajectory for AUV missions. Finally, the proposed method has been validated through both the simulation and AUV marine experiments. Full article

This study investigates the tracking of underwater cables using autonomous underwater vehicles (AUVs) equipped with side-scan sonar (SSS). AUV motion stability is crucial for effective SSS imaging, which is essential for continuous cable tracking. Traditional methods that derive AUV guidance rates directly from measured cable states often cause unnecessary jitter when imaging, complicating accurate detection. To address this, we propose a non-myopic receding-horizon optimization (RHO) strategy designed to maximize cable imaging quality while considering AUV maneuvering constraints. This strategy identifies the optimal heading decision sequence over a future horizon, ensuring stable and efficient cable tracking. We also employ a long short-term memory (LSTM) network to predict future cable states, further minimizing AUV motion instability during abrupt path changes. Given the computational limitations of AUVs, we have developed an efficient decision-making framework that can execute resource-intensive algorithms in real time. Finally, the robustness and effectiveness of the proposed algorithm were validated through comparative experiments. The results demonstrate that the proposed method outperforms existing methods in key metrics such as cable-tracking accuracy and AUV motion stability. This ensures that the AUV can acquire high-quality acoustic images of the submarine cable in an optimal state, enhancing the continuity and reliability of cable-tracking tasks. Full article

Side-scan sonar (SSS) images present unique challenges to computer vision due to their lower resolution, smaller targets, and fewer features. Although the mainstream backbone networks have shown promising results on traditional vision tasks, they utilize traditional convolution to reduce the dimensionality of feature maps, which may cause information loss for small targets and decrease performance in SSS images. To address this problem, based on the yolov8 network, we proposed a new underwater target detection model based on upsampling and downsampling. Firstly, we introduced a new general downsampling module called shallow robust feature downsampling (SRFD) and a receptive field convolution (RFCAConv) in the backbone network. Thereby multiple feature maps extracted by different downsampling techniques can be fused to create a more robust feature map with a complementary set of features. Additionally, an ultra-lightweight and efficient dynamic upsampling module (Dysample) is introduced to improve the accuracy of the feature pyramid network (FPN) in fusing different levels of features. On the underwater shipwreck dataset, our improved model’s mAP50 increased by 4.4% compared to the baseline model. Full article

The Coastal and Marine Ecological Classification Standard (CMECS) was applied to four portions of Acadia National Park, USA, focusing on intertidal rocky and tidal flat habitats. Side-scan sonar coupled with multi-phase echo sounder bathymetry are the primary data sources used to map the seafloor, coupled with underwater video imagery and surface grab samples for grain size and macrofaunal analysis. The CMECS Substrate, Geoform, and Biotic components were effective in describing the study areas. However, integrating the CMECS components to define Biotopes was more challenging due to the limited number of grab samples available and because the dominant species within a given map unit is largely inconsistent. While Biotopes ultimately could not be defined in this study, working within the CMECS framework to create statistically significant biotopes revealed the complexity of these study areas that may otherwise have been overlooked. This study demonstrates the effectiveness of the CMECS classification, including the framework’s ability to be flexible in communicating information. Full article

In this paper, a method for augmenting samples of side-scan sonar seafloor sediment images based on CBAM-BCEL1-INGAN is proposed, aiming to address the difficulties in acquiring and labeling datasets, as well as the insufficient diversity and quantity of data samples. Firstly, a Convolutional Block Attention Module (CBAM) is integrated into the residual blocks of the INGAN generator to enhance the learning of specific attributes and improve the quality of the generated images. Secondly, a BCEL1 loss function (combining binary cross-entropy and L1 loss functions) is introduced into the discriminator, enabling it to focus on both global image consistency and finer distinctions for better generation results. Finally, augmented samples are input into an AlexNet classifier to verify their authenticity. Experimental results demonstrate the excellent performance of the method in generating images of coarse sand, gravel, and bedrock, as evidenced by significant improvements in the Frechet Inception Distance (FID) and Inception Score (IS). The introduction of the CBAM and BCEL1 loss function notably enhances the quality and details of the generated images. Moreover, classification experiments using the AlexNet classifier show an increase in the recognition rate from 90.5% using only INGAN-generated images of bedrock to 97.3% using images augmented using our method, marking a 6.8% improvement. Additionally, the classification accuracy of bedrock-type matrices is improved by 5.2% when images enhanced using the method presented in this paper are added to the training set, which is 2.7% higher than that of the simple method amplification. This validates the effectiveness of our method in the task of generating seafloor sediment images, partially alleviating the scarcity of side-scan sonar seafloor sediment image data. Full article

The utilization of deep learning algorithms for side-scan sonar target detection is impeded by the restricted quantity and representativeness of side-scan sonar (SSS) samples. To address this issue, this paper proposes a method for image augmentation using a CC-WGAN network. First, the generator incorporates the Convolutional Block Attention Module (CBAM) to enhance the assimilation of global information and local features in the input images. This integration also improves stability and avoids mode collapse problems associated with the original Generative Adversarial Network. Subsequently, the CBAM is incorporated into the discriminator to facilitate a better understanding of the relevance and significance of input data, thereby enhancing the model’s generalization ability. Finally, based on this model, existing few-sample SSS images are augmented, and we utilize the augmented images for discrimination and detection with YOLOv5. The experimental results show that following training with the SSS dataset that is augmented by this network, the accuracy of target detection increased by 7.6%, validating the feasibility of our proposed method. This method presents a novel solution to the problem of low model accuracy in underwater target detection with side-scan sonar due to limited samples. Full article

In the field of underwater perception and detection, side-scan sonar (SSS) plays an indispensable role. However, the imaging mechanism of SSS results in slow information acquisition and high complexity, significantly hindering the advancement of downstream data-driven applications. To address this challenge, we designed an SSS image generator based on diffusion models. We developed a data collection system based on Autonomous Underwater Vehicles (AUVs) to achieve stable and rich data collection. For the process of converting acoustic signals into image signals, we established an image compensation method based on nonlinear gain enhancement to ensure the reliability of remote signals. On this basis, we developed the first controllable category SSS image generation algorithm, which can generate specified data for five categories, demonstrating outstanding performance in terms of the Fréchet Inception Distance (FID) and the Inception Score (IS). We further evaluated our image generator in the task of SSS object detection, and our cross-validation experiments showed that the generated images contributed to an average accuracy improvement of approximately 10% in object detection. The experimental results validate the effectiveness of the proposed SSS image generator in generating highly similar sonar images and enhancing detection accuracy, effectively addressing the issue of data scarcity. Full article

Side-scan sonar is a principal technique for subsea target detection, where the quantity of sonar images of seabed targets significantly influences the accuracy of intelligent target recognition. To expand the number of representative side-scan sonar target image samples, a novel augmentation method employing self-training with a Disrupted Student model is designed (DS-SIAUG). The process begins by inputting a dataset of side-scan sonar target images, followed by augmenting the samples through an adversarial network consisting of the DDPM (Denoising Diffusion Probabilistic Model) and the YOLO (You Only Look Once) detection model. Subsequently, the Disrupted Student model is used to filter out representative target images. These selected images are then reused as a new dataset to repeat the adversarial filtering process. Experimental results indicate that using the Disrupted Student model for selection achieves a target recognition accuracy comparable to manual selection, improving the accuracy of intelligent target recognition by approximately 5% over direct adversarial network augmentation. Full article

CORAL (Catamaran fOr UndeRwAter expLoration) is a compact, unmanned catamaran-type vehicle designed and developed to assist the scientific community in exploring marine areas such as inshore regions that are not easily accessible by traditional vessels. This vehicle can operate in different modalities: completely autonomous, semi-autonomous, or remotely assisted by the operator, thus accommodating various investigative scenarios. CORAL is characterized by compact dimensions, a very low draft and a total electric propulsion system. The vehicle is equipped with a single echo-sounder, a 450 kHz Side Scan Sonar, an Inertial Navigation System assisted by a GPS receiver and a pair of high-definition cameras for recording both above and below the water surface. Here, we present results from two investigations: the first conducted in the tourist harbour in Pozzuoli Gulf and the second in the Riomaggiore-Manarola marine area within the Cinque Terre territory (Italy). Both surveys yielded promising results regarding the potentiality of CORAL to collect fine-scale submarine elements such as anthropic objects, sedimentary features, and seagrass meadow spots. These capabilities characterize the CORAL system as a highly efficient investigation tool for depicting shallow bedforms, reconstructing coastal dynamics and erosion processes and monitoring the evolution of biological habitats. Full article

The Amapá margin, part of the Brazilian Equatorial Margin (BEM), is a key region that plays a strategic role in the global climate balance between the North and South Atlantic Ocean as it is strictly tied to equatorial heat conveyance and the fresh/salt water equilibrium with the Amazon River. We performed a new scientific expedition on the Amapá continental shelf (ACS, northern part of the Amazon continental platform) collecting sediment and using instrumental observation at an unstudied site. We show here the preliminary outcomes following the applied methodologies for investigation. Geophysical, geological, and biological surveys were carried out within the ACS to (1) perform bathymetric and sonographic mapping, high-resolution sub-surface geophysical characterization of the deep environment of the margin of the continental platform, (2) characterize the habitats and benthic communities through underwater images and biological sampling, (3) collect benthic organisms for ecological and taxonomic studies, (4) define the mineralogical and (5) elemental components of sediments from the study region, and (6) identify their provenance. The geophysical data collection included the use of bathymetry, a sub-bottom profiler, side scan sonar, bathythermograph acquisition, moving vessel profiler, and a thermosalinograph. The geological data were obtained through mineralogical, elemental, and grain size analysis. The biological investigation involved epifauna/infauna characterization, microbial analysis, and eDNA analysis. The preliminary results of the geophysical mapping, shallow seismic, and ultrasonographic surveys endorsed the identification of a hard substrate in a mesophotic environment. The preliminary geological data allowed the identification of amphibole, feldspar, biotite, as well as other minerals (e.g., calcite, quartz, goethite, ilmenite) present in the substrata of the Amapá continental shelf. Silicon, iron, calcium, and aluminum composes ~85% of sediments from the ACS. Sand and clay are the main fraction from these sediments. Within the sediments, Polychaeta (Annelida) dominated, followed by Crustacea (Arthropoda), and Ophiuroidea (Echinodermata). Through TowCam videos, 35 taxons with diverse epifauna were recorded, including polychaetes, hydroids, algae, gastropods, anemones, cephalopods, crustaceans, fishes, and sea stars. Full article

Aiming at the problem of low accuracy of multi-scale seafloor target detection in side-scan sonar images with high noise and complex background texture, a model for multi-scale target detection using the BES-YOLO network is proposed. First, an efficient multi-scale attention (EMA) mechanism is used in the backbone of the YOLOv8 network, and a bi-directional feature pyramid network (Bifpn) is introduced to merge the information of different scales, finally, a Shape_IoU loss function is introduced to continuously optimize the model and improve its accuracy. Before training, the dataset is preprocessed using 2D discrete wavelet decomposition and reconstruction to enhance the robustness of the network. The experimental results show that 92.4% of the mean average accuracy at IoU of 0.5 ([email protected]) and 67.7% of the mean average accuracy at IoU of 0.5 to 0.95 ([email protected]:0.95) are achieved using the BES-YOLO network, which is an increase of 5.3% and 4.4% compared to the YOLOv8n model. The research results can effectively improve the detection accuracy and efficiency of multi-scale targets in side-scan sonar images, which can be applied to AUVs and other underwater platforms to implement intelligent detection of undersea targets. Full article

Side-scan sonar plays a crucial role in underwater exploration, and the autonomous detection of side-scan sonar images is vital for detecting unknown underwater environments. However, due to the complexity of the underwater environment, the presence of a few highlighted areas on the targets, blurred feature details, and difficulty in collecting data from side-scan sonar, achieving high-precision autonomous target recognition in side-scan sonar images is challenging. This article addresses this problem by improving the You Only Look Once v7 (YOLOv7) model to achieve high-precision object detection in side-scan sonar images. Firstly, given that side-scan sonar images contain large areas of irrelevant information, this paper introduces the Swin-Transformer for dynamic attention and global modeling, which enhances the model’s focus on the target regions. Secondly, the Convolutional Block Attention Module (CBAM) is utilized to further improve feature representation and enhance the neural network model’s accuracy. Lastly, to address the uncertainty of geometric features in side-scan sonar target features, this paper innovatively incorporates a feature scaling factor into the YOLOv7 model. The experiment initially verified the necessity of attention mechanisms in the public dataset. Subsequently, experiments on our side-scan sonar (SSS) image dataset show that the improved YOLOv7 model has 87.9% and 49.23% in its average accuracy ($mAP0.5$) and ($mAP$0.5:0.95), respectively. These results are 9.28% and 8.41% higher than the YOLOv7 model. The improved YOLOv7 algorithm proposed in this paper has great potential for object detection and the recognition of side-scan sonar images. Full article