Unmanned Surface Vehicle (USV) performance test in Bintan Island Waters

An unmanned surface vehicle (USV) is an unmanned vehicle that is operated on the surface of the water for certain purposes, for example, bathymetry measurement, underwater imaging, etc. These unmanned surface vehicles can be used in impassable waters for crewed vessels in dangerous waters. This research measures the movement of the vehicle acceleration and then calculates it as the USV roll and pitch values. The direction of movement and wind speed and the height of the water surface at low tide are also aspects measured in this research. An accelerometer is a sensor that can measure the acceleration of an object, both dynamic and static. Based on the observations, the highest roll value is 6.0° deep while the highest pitch value is 6.5°. The standard deviation value at roll conditions of 2.92 and the standard deviation value at pitch conditions of 1.25. The average frequency of roll conditions is 2.18 and pitch conditions of 1.13. The dominant wind moves from the south to the southwest with a dominant speed ranging from 3.0 to 4.0 m/s. The results of this research indicate that the USV has a good performance so that it is possible to collect data in the water.

Role of Restored Underwater Images in Underwater Imaging Applications

Underwater images are extremely sensitive to distortion occurring in an aquatic underwater environment, with absorption, scattering, polarization, diffraction and low natural light penetration representing common problems caused by sea water. Because of these degradation of quality, effectiveness of the acquired images for underwater applications may be limited. An effective method of restoring underwater images has been demonstrated, by considering the wavelengths of red, blue, and green lights, attenuation and backscattering coefficients. The results from the underwater restoration method have been applied to various underwater applications; particularly, edge detection, Speeded Up Robust Feature detection, and image classification that uses machine learning. It has been shown that more edges and more SURF points can be detected as a result of using the method. Applying the method to restore underwater images in image classification tasks on underwater image datasets gives accuracy of up to 89% using a simple machine-learning algorithm. These results are significant as it demonstrates that the restoration method can be implemented on underwater system for various purposes.

A Real-Time FPGA Accelerator Based on Winograd Algorithm for Underwater Object Detection

Real-time object detection is a challenging but crucial task for autonomous underwater vehicles because of the complex underwater imaging environment. Resulted by suspended particles scattering and wavelength-dependent light attenuation, underwater images are always hazy and color-distorted. To overcome the difficulties caused by these problems to underwater object detection, an end-to-end CNN network combined U-Net and MobileNetV3-SSDLite is proposed. Furthermore, the FPGA implementation of various convolution in the proposed network is optimized based on the Winograd algorithm. An efficient upsampling engine is presented, and the FPGA implementation of squeeze-and-excitation module in MobileNetV3 is optimized. The accelerator is implemented on a Zynq XC7Z045 device running at 150 MHz and achieves 23.68 frames per second (fps) and 33.14 fps when using MobileNetV3-Large and MobileNetV3-Small as the feature extractor. Compared to CPU, our accelerator achieves 7.5×–8.7× speedup and 52×–60× energy efficiency.

Leveraging Deep Statistics for Underwater Image Enhancement

Underwater imaging often suffers from color cast and contrast degradation due to range-dependent medium absorption and light scattering. Introducing image statistics as prior has been proved to be an effective solution for underwater image enhancement. However, relative to the modal divergence of light propagation and underwater scenery, the existing methods are limited in representing the inherent statistics of underwater images resulting in color artifacts and haze residuals. To address this problem, this article proposes a convolutional neural network (CNN)-based framework to learn hierarchical statistical features related to color cast and contrast degradation and to leverage them for underwater image enhancement. Specifically, a pixel disruption strategy is first proposed to suppress intrinsic colors’ influence and facilitate modeling a unified statistical representation of underwater image. Then, considering the local variation of depth of field, two parallel sub-networks: Color Correction Network (CC-Net) and Contrast Enhancement Network (CE-Net) are presented. The CC-Net and CE-Net can generate pixel-wise color cast and transmission map and achieve spatial-varied color correction and contrast enhancement. Moreover, to address the issue of insufficient training data, an imaging model-based synthesis method that incorporates pixel disruption strategy is presented to generate underwater patches with global degradation consistency. Quantitative and subjective evaluations demonstrate that our proposed method achieves state-of-the-art performance.

Deep Learning Based Filtering Algorithm for Noise Removal in Underwater Images

Under-water sensing and image processing play major roles in oceanic scientific studies. One of the related challenges is that the absorption and scattering of light in underwater settings degrades the quality of the imaging. The major drawbacks of underwater imaging are color distortion, low contrast, and loss of detail (especially edge information). The paper proposes a method to address these issues by de-noising and increasing the resolution of the image using a model network trained on similar data. The network extracts frames from a video and filters them with a trigonometric–Gaussian filter to eliminate the noise in the image. It then applies contrast limited adaptive histogram equalization (CLAHE) to improvise the image contrast, and finally enhances the image resolution. Experimental results show that the proposed method could effectively produce enhanced images from degraded underwater images.