Side-scan sonar(SSS)is now a prevalent instrument for large-scale seafloor topography measurements,deployable on an autonomous underwater vehicle(AUV)to execute fully automated underwater acoustic scanning imaging alo...Side-scan sonar(SSS)is now a prevalent instrument for large-scale seafloor topography measurements,deployable on an autonomous underwater vehicle(AUV)to execute fully automated underwater acoustic scanning imaging along a predetermined trajectory.However,SSS images often suffer from speckle noise caused by mutual interference between echoes,and limited AUV computational resources further hinder noise suppression.Existing approaches for SSS image processing and speckle noise reduction rely heavily on complex network structures and fail to combine the benefits of deep learning and domain knowledge.To address the problem,Rep DNet,a novel and effective despeckling convolutional neural network is proposed.Rep DNet introduces two re-parameterized blocks:the Pixel Smoothing Block(PSB)and Edge Enhancement Block(EEB),preserving edge information while attenuating speckle noise.During training,PSB and EEB manifest as double-layered multi-branch structures,integrating first-order and secondorder derivatives and smoothing functions.During inference,the branches are re-parameterized into a 3×3 convolution,enabling efficient inference without sacrificing accuracy.Rep DNet comprises three computational operations:3×3 convolution,element-wise summation and Rectified Linear Unit activation.Evaluations on benchmark datasets,a real SSS dataset and Data collected at Lake Mulan aestablish Rep DNet as a well-balanced network,meeting the AUV computational constraints in terms of performance and latency.展开更多
With the development of underwater sonar detection technology,simultaneous localization and mapping(SLAM)approach has attracted much attention in underwater navigation field in recent years.But the weak detection abil...With the development of underwater sonar detection technology,simultaneous localization and mapping(SLAM)approach has attracted much attention in underwater navigation field in recent years.But the weak detection ability of a single vehicle limits the SLAM performance in wide areas.Thereby,cooperative SLAM using multiple vehicles has become an important research direction.The key factor of cooperative SLAM is timely and efficient sonar image transmission among underwater vehicles.However,the limited bandwidth of underwater acoustic channels contradicts a large amount of sonar image data.It is essential to compress the images before transmission.Recently,deep neural networks have great value in image compression by virtue of the powerful learning ability of neural networks,but the existing sonar image compression methods based on neural network usually focus on the pixel-level information without the semantic-level information.In this paper,we propose a novel underwater acoustic transmission scheme called UAT-SSIC that includes semantic segmentation-based sonar image compression(SSIC)framework and the joint source-channel codec,to improve the accuracy of the semantic information of the reconstructed sonar image at the receiver.The SSIC framework consists of Auto-Encoder structure-based sonar image compression network,which is measured by a semantic segmentation network's residual.Considering that sonar images have the characteristics of blurred target edges,the semantic segmentation network used a special dilated convolution neural network(DiCNN)to enhance segmentation accuracy by expanding the range of receptive fields.The joint source-channel codec with unequal error protection is proposed that adjusts the power level of the transmitted data,which deal with sonar image transmission error caused by the serious underwater acoustic channel.Experiment results demonstrate that our method preserves more semantic information,with advantages over existing methods at the same compression ratio.It also improves the error tolerance and packet loss resistance of transmission.展开更多
基金supported by the National Key R&D Program of China(Grant No.2023YFC3010803)the National Nature Science Foundation of China(Grant No.52272424)+1 种基金the Key R&D Program of Hubei Province of China(Grant No.2023BCB123)the Fundamental Research Funds for the Central Universities(Grant No.WUT:2023IVB079)。
文摘Side-scan sonar(SSS)is now a prevalent instrument for large-scale seafloor topography measurements,deployable on an autonomous underwater vehicle(AUV)to execute fully automated underwater acoustic scanning imaging along a predetermined trajectory.However,SSS images often suffer from speckle noise caused by mutual interference between echoes,and limited AUV computational resources further hinder noise suppression.Existing approaches for SSS image processing and speckle noise reduction rely heavily on complex network structures and fail to combine the benefits of deep learning and domain knowledge.To address the problem,Rep DNet,a novel and effective despeckling convolutional neural network is proposed.Rep DNet introduces two re-parameterized blocks:the Pixel Smoothing Block(PSB)and Edge Enhancement Block(EEB),preserving edge information while attenuating speckle noise.During training,PSB and EEB manifest as double-layered multi-branch structures,integrating first-order and secondorder derivatives and smoothing functions.During inference,the branches are re-parameterized into a 3×3 convolution,enabling efficient inference without sacrificing accuracy.Rep DNet comprises three computational operations:3×3 convolution,element-wise summation and Rectified Linear Unit activation.Evaluations on benchmark datasets,a real SSS dataset and Data collected at Lake Mulan aestablish Rep DNet as a well-balanced network,meeting the AUV computational constraints in terms of performance and latency.
基金supported in part by the Tianjin Technology Innovation Guidance Special Fund Project under Grant No.21YDTPJC00850in part by the National Natural Science Foundation of China under Grant No.41906161in part by the Natural Science Foundation of Tianjin under Grant No.21JCQNJC00650。
文摘With the development of underwater sonar detection technology,simultaneous localization and mapping(SLAM)approach has attracted much attention in underwater navigation field in recent years.But the weak detection ability of a single vehicle limits the SLAM performance in wide areas.Thereby,cooperative SLAM using multiple vehicles has become an important research direction.The key factor of cooperative SLAM is timely and efficient sonar image transmission among underwater vehicles.However,the limited bandwidth of underwater acoustic channels contradicts a large amount of sonar image data.It is essential to compress the images before transmission.Recently,deep neural networks have great value in image compression by virtue of the powerful learning ability of neural networks,but the existing sonar image compression methods based on neural network usually focus on the pixel-level information without the semantic-level information.In this paper,we propose a novel underwater acoustic transmission scheme called UAT-SSIC that includes semantic segmentation-based sonar image compression(SSIC)framework and the joint source-channel codec,to improve the accuracy of the semantic information of the reconstructed sonar image at the receiver.The SSIC framework consists of Auto-Encoder structure-based sonar image compression network,which is measured by a semantic segmentation network's residual.Considering that sonar images have the characteristics of blurred target edges,the semantic segmentation network used a special dilated convolution neural network(DiCNN)to enhance segmentation accuracy by expanding the range of receptive fields.The joint source-channel codec with unequal error protection is proposed that adjusts the power level of the transmitted data,which deal with sonar image transmission error caused by the serious underwater acoustic channel.Experiment results demonstrate that our method preserves more semantic information,with advantages over existing methods at the same compression ratio.It also improves the error tolerance and packet loss resistance of transmission.
