Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address these issues, by providing high-resolution imagery at maximum range of tens of meters, despite complexities posed by high degree of speckle noise, and lack of color and texture. In particular, robust feature detection is an essential initial step for automated object recognition, localization, navigation, and 3-D mapping. Various local feature detectors developed for RGB images are not well-suited for sonar data. To assess their performances, we evaluate a number of feature detectors using real sonar images from five different sonar devices. Performance metrics such as detection accuracy, false positives, and robustness to variations in target characteristics and sonar devices are applied to analyze the experimental results. The study would provide a deeper insight into the bottlenecks of feature detection for sonar data, and developing more effective methods
Beyond Pixel Similarity: Task-Aware Evaluation of GAN-Based Synthetic Sonar Data for Robotic Perception
XITASO GmbH IT & Software Solutions（XITASO信息技术与软件解决方案有限公司）；National University of Sciences and Technology (NUST)（国立科技大学）；Technical University of Kaiserslautern（凯泽斯劳滕工业大学）
CIDCO - Development Center for Ocean Mapping（CIDCO——海洋测绘开发中心）
This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize images from sidescan data, apply geometric and radiometric corrections, then use 2D feature detection algorithms to identify point clouds of descriptive visual microfeatures such as corners and edges in the sonar images. We then apply a clustering algorithm on the feature point clouds to group feature sets into regions of interest, reject false positives, yi…
Histogram Layers for Synthetic Aperture Sonar Imagery
Naval Surface Warfare Center Panama City Division（巴拿马城海军水面作战中心分部）；University of Missouri（密苏里大学）；University of Florida（佛罗里达大学）；Texas A&M University（德州农工大学）
University of Florida（佛罗里达大学）；Cornell University（康奈尔大学）；Naval Surface Warfare Center, Panama City Division（巴拿马城分部海军水面作战中心）；Naval Undersea Warfare Center, Newport（纽波特海军水下作战中心）
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide representative images for use in training automated target recognition (ATR) and machine learning algorithms. The methods provide visual approximations for acoustic effects such as back-scatter noise and acoustic shadow, while allowing fast rendering with C++ actor in UE for maximizing the size of potential ATR training datasets. Additionally, we provide analysis o…
Observations of seabed texture with synthetic aperture sonar are dependent upon several factors. In this work, we focus on collection geometry with respect to isotropic and anisotropic textures. The low grazing angle of the collection geometry, combined with orientation of the sonar path relative to anisotropic texture, poses a significant challenge for image-alignment and other multi-view scene understanding frameworks. We previously proposed using features captured from estimated seabed relief to improve scene understanding. While several methods have been developed to estimate seabed relief…
University of Florida（佛罗里达大学）；University of Missouri（密苏里大学）
In this work, we present an in-depth and systematic analysis using tools such as local interpretable model-agnostic explanations (LIME) (arXiv:1602.04938) and divergence measures to analyze what changes lead to improvement in performance in fine tuned models for synthetic aperture sonar (SAS) data. We examine the sensitivity to factors in the fine tuning process such as class imbalance. Our findings show not only an improvement in seafloor texture classification, but also provide greater insight into what features play critical roles in improving performance as well as a knowledge of the impor…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and localization of vehicles such as submarines. Side-scan sonar sensors are available in inexpensive cost ranges, especially in fish-finders, where the transducers are usually mounted to the bottom of a boat and can approach shallower depths than the ones attached to an Uncrewed Underwater Vehicle (UUV) can. However, extracting 3D information from side-scan sonar…
Synthetic aperture sonar (SAS) requires precise positional and environmental information to produce well-focused output during the image reconstruction step. However, errors in these measurements are commonly present resulting in defocused imagery. To overcome these issues, an \emph{autofocus} algorithm is employed as a post-processing step after image reconstruction for the purpose of improving image quality using the image content itself. These algorithms are usually iterative and metric-based in that they seek to optimize an image sharpness metric. In this letter, we demonstrate the potenti…
University of Florida（佛罗里达大学）；University of Missouri（密苏里大学）
Synthetic aperture sonar (SAS) imagery can generate high resolution images of the seafloor. Thus, segmentation algorithms can be used to partition the images into different seafloor environments. In this paper, we compare two possibilistic segmentation approaches. Possibilistic approaches allow for the ability to detect novel or outlier environments as well as well known classes. The Possibilistic Fuzzy Local Information C-Means (PFLICM) algorithm has been previously applied to segment SAS imagery. Additionally, the Possibilistic K-Nearest Neighbors (PKNN) algorithm has been used in other doma…
Video and Image Processing Laboratory（视频与图像处理实验室）；School of Electrical Engineering（电气工程学院）；Purdue University（普渡大学）
Satellite imagery is becoming increasingly accessible due to the growing number of orbiting commercial satellites. Many applications make use of such images: agricultural management, meteorological prediction, damage assessment from natural disasters, or cartography are some of the examples. Unfortunately, these images can be easily tampered and modified with image manipulation tools damaging downstream applications. Because the nature of the manipulation applied to the image is typically unknown, unsupervised methods that don't require prior knowledge of the tampering techniques used are pref…
Gaining timely and reliable situation awareness after hazard events such as a hurricane is crucial to emergency managers and first responders. One effective way to achieve that goal is through damage assessment. Recently, disaster researchers have been utilizing imagery captured through satellites or drones to quantify the number of flooded/damaged buildings. In this paper, we propose a mixed data approach, which leverages publicly available satellite imagery and geolocation features of the affected area to identify damaged buildings after a hurricane. The method demonstrated significant impro…
University of Edinburgh（爱丁堡大学）；SeeByte Ltd.（SeeByte有限公司）
Deployment and operation of autonomous underwater vehicles is expensive and time-consuming. High-quality realistic sonar data simulation could be of benefit to multiple applications, including training of human operators for post-mission analysis, as well as tuning and validation of autonomous target recognition (ATR) systems for underwater vehicles. Producing realistic synthetic sonar imagery is a challenging problem as the model has to account for specific artefacts of real acoustic sensors, vehicle altitude, and a variety of environmental factors. We propose a novel method for generating re…
Accurate and fine-grained information about the extent of damage to buildings is essential for directing Humanitarian Aid and Disaster Response (HADR) operations in the immediate aftermath of any natural calamity. In recent years, satellite and UAV (drone) imagery has been used for this purpose, sometimes aided by computer vision algorithms. Existing Computer Vision approaches for building damage assessment typically rely on a two stage approach, consisting of building detection using an object detection model, followed by damage assessment through classification of the detected building tiles…
University of Shanghai for Science and Technology（上海理工大学）；Indiana University Bloomington（印第安纳大学伯明顿分校）；Tianjin University（天津大学）；Suffolk University（萨福克大学）
Vegetation is the natural linkage connecting soil, atmosphere and water. It can represent the change of land cover to a certain extent and serve as an indicator for global change research. Methods for measuring coverage can be divided into two types: surface measurement and remote sensing. Because vegetation cover has significant spatial and temporal differentiation characteristics, remote sensing has become an important technical means to estimate vegetation coverage. This paper firstly uses U-net to perform remote sensing image semantic segmentation training, then uses the result of semantic…
Underwater automatic target recognition (UATR) has been a challenging research topic in ocean engineering. Although deep learning brings opportunities for target recognition on land and in the air, underwater target recognition techniques based on deep learning have lagged due to sensor performance and the size of trainable data. This letter proposed a framework for learning the visual representation of underwater acoustic imageries, which takes a transformer-based style transfer model as the main body. It could replace the low-level texture features of optical images with the visual features …
Puerto Rico suffered severe damage from the category 5 hurricane (Maria) in September 2017. Total monetary damages are estimated to be ~92 billion USD, the third most costly tropical cyclone in US history. The response to this damage has been tempered and slow moving, with recent estimates placing 45% of the population without power three months after the storm. Consequently, we developed a unique data-fusion mapping approach called the Urban Development Index (UDI) and new open source tool, Comet Time Series (CometTS), to analyze the recovery of electricity and infrastructure in Puerto Rico. …
University of Florida（佛罗里达大学）；University of Missouri（密苏里大学）
Synthetic Aperture Sonar (SAS) surveys produce imagery with large regions of transition between seabed types. Due to these regions, it is difficult to label and segment the imagery and, furthermore, challenging to score the image segmentations appropriately. While there are many approaches to quantify performance in standard crisp segmentation schemes, drawing hard boundaries in remote sensing imagery where gradients and regions of uncertainty exist is inappropriate. These cases warrant weak labels and an associated appropriate scoring approach. In this paper, a labeling approach and associate…
Applications based on synergistic integration of optical imagery and LiDAR data are receiving a growing interest from the remote sensing community. However, a misaligned integration between these datasets may fail to fully profit the potential of both sensors. In this regard, an optimum fusion of optical imagery and LiDAR data requires an accurate registration. This is a complex problem since a versatile solution is still missing, especially when considering the context where data are collected at different times, from different platforms, under different acquisition configurations. This paper…
Multiclass Post-Earthquake Building Assessment Integrating High-Resolution Optical and SAR Satellite Imagery, Ground Motion, and Soil Data with Transformers
Department of Civil and Environmental Engineering, University of Houston, TX, USA（土木与环境工程系，德克萨斯大学）；Department of Electrical and Computer Engineering, University of Houston, TX, USA（电气与计算机工程系，德克萨斯大学）；Department of Earth and Atmospheric Science, University of Houston, TX, USA（地球与大气科学系，德克萨斯大学）；German Aerospace Center (DLR), Microwaves and Radar Institute, Munich, Germany（德国航天中心（DLR）微波与雷达研究所）
Technische Universität Berlin（柏林工业大学）；DFKI Projektbüro Berlin（德国人工智能研究中心柏林项目办公室）
Video gaming streaming services are growing rapidly due to new services such as passive video streaming, e.g. Twitch.tv, and cloud gaming, e.g. Nvidia Geforce Now. In contrast to traditional video content, gaming content has special characteristics such as extremely high motion for some games, special motion patterns, synthetic content and repetitive content, which makes the state-of-the-art video and image quality metrics perform weaker for this special computer generated content. In this paper, we outline our plan to build a deep learningbased quality metric for video gaming quality assessme…
University of Sannio（萨尼奥大学）；Massachusetts Institute of Technology (MIT)（麻省理工学院（MIT））
In this paper, the authors aim to combine the latest state of the art models in image recognition with the best publicly available satellite images to create a system for landslide risk mitigation. We focus first on landslide detection and further propose a similar system to be used for prediction. Such models are valuable as they could easily be scaled up to provide data for hazard evaluation, as satellite imagery becomes increasingly available. The goal is to use satellite images and correlated data to enrich the public repository of data and guide disaster relief efforts for locating precis…
University of Oxford（牛津大学）；University of Valencia（瓦伦西亚大学）
High resolution remote sensing imagery is used in broad range of tasks, including detection and classification of objects. High-resolution imagery is however expensive, while lower resolution imagery is often freely available and can be used by the public for range of social good applications. To that end, we curate a multi-spectral multi-image super-resolution dataset, using PlanetScope imagery from the SpaceNet 7 challenge as the high resolution reference and multiple Sentinel-2 revisits of the same imagery as the low-resolution imagery. We present the first results of applying multi-image s…
Flood-DamageSense: Multimodal Mamba with Multitask Learning for Building Flood Damage Assessment using SAR Remote Sensing Imagery
Urban Resilience.AI Lab（城市韧性人工智能实验室）；Zachry Department of Civil and Environmental Engineering（扎克里土木与环境工程系）；Texas A&M University（德克萨斯A&M大学）；College Station, TX（学院站, 德克萨斯）
Singapore-ETH Center（新加坡-ETH中心）；ETH Zuerich（苏黎世联邦理工学院）；University of Melbourne（墨尔本大学）
Recently developed automatic dense image matching algorithms are now being implemented for DSM/DTM production, with their pixel-level surface generation capability offering the prospect of partially alleviating the need for manual and semi-automatic stereoscopic measurements. In this paper, five commercial/public software packages for 3D surface generation are evaluated, using 5cm GSD imagery recorded from a UAV. Generated surface models are assessed against point clouds generated from mobile LiDAR and manual stereoscopic measurements. The software packages considered are APS, MICMAC, SURE, Pi…
Arizona State University（亚利桑那州立大学）；Pennsylvania State University（宾夕法尼亚州立大学）；NATO STO Centre for Maritime Research & Experimentation（北约科学与技术组织海事研究与实验中心）
Acquisition of Synthetic Aperture Sonar (SAS) datasets is bottlenecked by the costly deployment of SAS imaging systems, and even when data acquisition is possible,the data is often skewed towards containing barren seafloor rather than objects of interest. We present a novel pipeline, called SAS GAN, which couples an optical renderer with a generative adversarial network (GAN) to synthesize realistic SAS images of targets on the seafloor. This coupling enables high levels of SAS image realism while enabling control over image geometry and parameters. We demonstrate qualitative results by presen…
Google Research（谷歌研究院）；Stanford University（斯坦福大学）；United Nations World Food Programme（联合国世界粮食计划署）
To respond to disasters such as earthquakes, wildfires, and armed conflicts, humanitarian organizations require accurate and timely data in the form of damage assessments, which indicate what buildings and population centers have been most affected. Recent research combines machine learning with remote sensing to automatically extract such information from satellite imagery, reducing manual labor and turn-around time. A major impediment to using machine learning methods in real disaster response scenarios is the difficulty of obtaining a sufficient amount of labeled data to train a model for a…
In this paper we present a novel simulation technique for generating high quality images of any predefined resolution. This method can be used to synthesize sonar scans of size equivalent to those collected during a full-length mission, with across track resolutions of any chosen magnitude. In essence, our model extends Generative Adversarial Networks (GANs) based architecture into a conditional recursive setting, that facilitates the continuity of the generated images. The data produced is continuous, realistically-looking, and can also be generated at least two times faster than the real spe…
COMSATS University Islamabad（伊斯兰堡COMSATS大学）；University of Tasmania（塔斯马尼亚大学）；National University of Ireland, Galway（爱尔兰国立高威大学）
Food resources face severe damages under extraordinary situations of catastrophes such as earthquakes, cyclones, and tsunamis. Under such scenarios, speedy assessment of food resources from agricultural land is critical as it supports aid activity in the disaster hit areas. In this article, a deep learning approach is presented for the detection and segmentation of coconut tress in aerial imagery provided through the AI competition organized by the World Bank in collaboration with OpenAerialMap and WeRobotics. Maked Region-based Convolutional Neural Network approach was used identification and…
Monitoring long-term landslide activity is important for risk assessment and land management. Despite the widespread use of open-access 30m Landsat imagery, their utility for landslide detection is often limited when separating landslides from other anthropogenic disturbances. Here, we produce landslide maps retrospectively from 1998 to 2017 for landslide-prone and highly populated Taiwan (35,874 km2). To improve classification accuracy of landslides, we integrate nighttime light imagery from the Defense Meteorological Satellite Program (DMSP) and the Visible Infrared Imaging Radiometer Suite …
