Side-scan Sonar Images Research Articles

Estimating spawning green sturgeon (Acipenser medirostris Ayres, 1854) abundance in the Sacramento River using side-scan sonar and N-mixture models

Current estimates of the threatened southern distinct population segment of the North American green sturgeon ( Acipenser medirostris) combine a plot-sampling density estimator with Dual frequency IDentification SONar (DIDSON) and adaptive resolution imaging sonar (ARIS) sonar data. From 2020 to 2022, we annually collected images of all known green sturgeon aggregations and compared the established method to an N-mixture model using side-scan sonar images. We compared 18 different N-mixture model combinations and chose an overdispersed Poisson model that produced estimated abundances of 742, 1286, and 1208 for 2020–2022, respectively. These numbers are ∼2 times greater than the previous method and, if sustained, would fulfill a key criterion for green sturgeon recovery. N-mixture models are known to be sensitive to violations of assumptions, such as the highly dispersed data from our study that caused serious issues, and we recommend practitioners make judicious use of overdispersion and goodness-of-fit tests and be able to identify parameter confounding between detectability and abundance estimates. For our green sturgeon, we recommend simpler population estimates and to focus future energy on reducing variability in the data collection process.

GCT-YOLOv5: a lightweight and efficient object detection model of real-time side-scan sonar image

GCT-YOLOv5: a lightweight and efficient object detection model of real-time side-scan sonar image

Erosional and Depositional Features along the Axis of a Canyon in the Northern South China Sea and Their Implications: Insights from High-Resolution AUV-Based Geophysical Data

Autonomous Underwater Vehicle (AUV)-based multibeam bathymetry, sub-bottom profiles, and side-scan sonar images were collected in 2009 and 2010 to map the geomorphic features along the axial zone of a canyon (referred to as C4) within the canyon system developed on the northern slope of the South China Sea. These data significantly improved the spatial resolution of acoustic data, leading to a better understanding of the sedimentary processes within the modern canyon system. The bathymetric data reveal that sections across the canyon axis exhibit either asymmetrical or symmetrical characteristics, which differ from the overall asymmetrical pattern of the entire canyon. This suggests that the overall asymmetrical pattern of the canyon is not primarily due to axial incision. Various morphological elements were identified along the canyon axis, including failure scars, undulating features, knickpoints, flat terraces, furrows, and mass transport deposits (MTDs). Landslides, predominantly located in the upper canyon, were formed after at least 5000 years BP. Between the beginning of the canyon and a water depth of approximately 1300 m, there are alternating flat terraces and knickpoints. The large knickpoints’ low slope gradients are likely formed by the presence of undulating features. The internal configurations of undulating features suggest that they are depositional structures rather than sediment deformation. The formation of small-scale furrows below a depth of 1200 m may be associated with occasional gravity flows down the canyon. It is suggested that the canyon was generally inactive during the Holocene but experienced sporadic processes of sediment erosion, transport, and re-deposition in the axial zone that were triggered by landslide events occasionally in the upper canyon.

Underwater small target detection based on dynamic convolution and attention mechanism

In ocean observation missions, unmanned autonomous ocean observation platforms play a crucial role, with precise target detection technology serving as a key support for the autonomous operation of unmanned platforms. Among various underwater sensing devices, side-scan sonar (SSS) has become a primary tool for wide-area underwater detection due to its extensive detection range. However, current research on target detection with SSS primarily focuses on large targets such as sunken ships and aircraft, lacking investigations into small targets. In this study, we collected data on underwater small targets using an unmanned boat equipped with SSS and proposed an enhancement method based on the YOLOv7 model for detecting small targets in SSS images. First, to obtain more accurate initial anchor boxes, we replaced the original k-means algorithm with the k-means++ algorithm. Next, we replaced ordinary convolution blocks in the backbone network with Omni-dimensional Dynamic Convolution (ODConv) to enhance the feature extraction capability for small targets. Subsequently, we inserted a Global Attention Mechanism (GAM) into the neck network to focus on global information and extract target features, effectively addressing the issue of sparse target features in SSS images. Finally, we mitigated the harmful gradients produced by low-quality annotated data by adopting Wise-IoU (WIoU) to improve the detection accuracy of small targets in SSS images. Through validation on the test set, the proposed method showed a significant improvement compared to the original YOLOv7, with increases of 5.05% and 2.51% in mAP@0.5 and mAP@0.5: 0.95 indicators, respectively. The proposed method demonstrated excellent performance in detecting small targets in SSS images and can be applied to the detection of underwater mines and small equipment, providing effective support for underwater small target detection tasks.

Sample Augmentation Method for Side-Scan Sonar Underwater Target Images Based on CBL-sinGAN

The scarcity and difficulty in acquiring Side-scan sonar target images limit the application of deep learning algorithms in Side-scan sonar target detection. At present, there are few amplification methods for Side-scan sonar images, and the amplification image quality is not ideal, which is not suitable for the characteristics of Side-scan sonar images. Addressing the current shortage of sample augmentation methods for Side-scan sonar, this paper proposes a method for augmenting single underwater target images using the CBL-sinGAN network. Firstly, considering the low resolution and monochromatic nature of Side-scan sonar images while balancing training efficiency and image diversity, a sinGAN network is introduced and designed as an eight-layer pyramid structure. Secondly, the Convolutional Block Attention Module (CBAM) is integrated into the network generator to enhance target learning in images while reducing information diffusion. Finally, an L1 loss function is introduced in the network discriminator to ensure training stability and improve the realism of generated images. Experimental results show that the accuracy of shipwreck target detection increased by 4.9% after training with the Side-scan sonar sample dataset augmented by the proposed network. This method effectively retains the style of the images while achieving diversity augmentation of small-sample underwater target images, providing a new approach to improving the construction of underwater target detection models.

Exploration and identification of ancient Roman shipwreck located at Quseir, Red Sea

Recent marine geophysical investigations in front of the Myos Hormos Port (also known as Quseir al-Qadim) on the Red Sea coast of Egypt indicated the existence of an ancient Roman shipwreck, among other features on the seafloor. The study showed that side scan sonar imaging is a powerful technique for classifying the seafloor and detecting submerged targets among other seafloor features with resembling acoustic signatures. Integrating bathymetric data with sonar imageries displayed the seafloor topography in front of the ancient port where reef habitats were dominant. The Autonomous Underwater Vehicle was efficient in mapping closed and near-shore areas like bays. This vehicle provided high-resolution bathymetric and sonar data for the semi-closed bay area located at the entrance of the ancient port. Acoustic measurements were done for the sunken shipwreck using sonar software, and a structural model was established for the ∼ 32 m long sunken ship. The model suggested the presence of a pile of shipload gathered around the shipwreck. Results can contribute to the development of Egypt's tourism industry by promoting underwater cultural heritage preservation, as the discovery of an ancient Roman shipwreck is a significant finding that can attract tourists worldwide.

Sonar Image Target Detection Based on Simulated Stain-like Noise and Shadow Enhancement in Optical Images under Zero-Shot Learning

There are many challenges in using side-scan sonar (SSS) images to detect objects. The challenge of object detection and recognition in sonar data is greater than in optical images due to the sparsity of detectable targets. The complexity of real-world underwater scanning presents additional difficulties, as different angles produce sonar images of varying characteristics. This heterogeneity makes it difficult for algorithms to accurately identify and detect sonar objects. To solve these problems, this paper presents a novel method for sonar image target detection based on a transformer and YOLOv7. Thus, two data augmentation techniques are introduced to improve the performance of the detection system. The first technique applies stain-like noise to the training optical image data to simulate the real sonar image environment. The second technique adds multiple shadows to the optical image and 3D data targets to represent the direction of the target in the sonar image. The proposed method is evaluated on a public sonar image dataset, and the experimental results demonstrate that the proposed method outperforms the state-of-the-art methods in terms of accuracy and speed. The experimental results show that our method achieves better precision.

Optimizing AUV Navigation Using Factor Graphs with Side-Scan Sonar Integration

For seabed mapping, the prevalence of autonomous underwater vehicles (AUVs) employing side-scan sonar (SSS) necessitates robust navigation solutions. However, the positioning errors of traditional strapdown inertial navigation system (SINS) and Doppler velocity log (DVL) systems accumulated significantly, further exacerbated by DVL’s susceptibility to failure in complex underwater conditions. This research proposes an integrated navigation approach that utilizes factor graph optimization (FGO) along with an improved pre-integration technique integrating SSS-derived position measurements. Firstly, the reliability of SSS image registration in the presence of strong noise and feature-poor environments is improved by replacing the feature-based methods with a Fourier-based method. Moreover, the high-precision inertial measurement unit (IMU) pre-integration method could correct the heading errors of SINS significantly by considering the Earth’s rotation. Finally, the AUV’s marine experimental results demonstrated that the proposed integration method not only offers improved SSS image registration and corrects initial heading discrepancies but also delivers greater system stability, particularly in instances of DVL data loss.

Three-dimentional reconstruction of underwater side-scan sonar images based on shape-from-shading and monocular depth fusion

Modern marine research requires high-precision three-dimensional (3D) underwater data. Underwater environments experience severe visible light attenuation, which leads to inferior imaging compared with air. In contrast, sound waves are less affected underwater; hence side-scan sonar is used for underwater 3D reconstruction. Typically, the shape-from-shading algorithm (SfS) is widely used to reconstruct surface normal or heights from side-scan sonar images. However, this approach has challenges because of global information loss and noise. To address these issues, this study introduces a surface-normal fusion method. Specifically, we propose a frequency separation SfS algorithm using a discrete cosine transform, which provides a surface-normal map with less noise. We then fuse the surface-normal map with a novel depth estimation network to achieve high-precision 3D reconstruction of underwater side-scan sonar images. We conducted experiments on synthetic, NYU-depth-v2, and real side-scan sonar datasets to demonstrate the effectiveness of the proposed method.

Automatic Seabed Target Segmentation of AUV via Multilevel Adversarial Network and Marginal Distribution Adaptation

The real-time segmentation results of side-scan sonar (SSS) images can realize the intelligent perception of autonomous underwater vehicles (AUVs). However, there remains a compelling challenge that the models trained with training data may not generalize well in practical applications due to the various marine conditions/working devices. This article proposes a real-time cross-domain segmentation adaptation scheme for SSS images based on 1) adversarial training via min-max training to distribute SSS images in the output space and 2) marginal distribution adaption to improve the segmentation performance by minimizing the measured distribution distance. To further enhance the adapted model, the multi-layer feature discriminators are established to realize the fine-grained alignment. Experiments on the real-world SSS datasets demonstrate that our proposed model outperforms state-of-the-art methods and achieves the actual industrial application for AUV.

Bedforms and sediment dynamics under reduced sediment input and estuarine engineering: the case of the Bou Regreg estuary, Morocco

The Bou Regreg riverine estuary constitutes a microtidal environment located within an urban region and characterized by limited sediment inflow from its catch basin hinterlands. The construction of the Sidi Mohamed Ben Abdellah (SMBA) dam has notably diminished sediment supply, especially coarser fractions. In light of these conditions, this study aimed to classify sediment types according to the Folk and Ward classification, stratify morphometric parameters and temporal fluctuations based on dune types, and ultimately evaluate the sediment dynamics driving observed bedform variations. Using an integrated approach, data collection involved various techniques, including CTD profiling, bottom videography, side-scan sonar imaging, sub-bottom profiling, and Van Veen bottom grab sampling. The bed morphology includes segments of smooth bed, erosional and dredged bottom, localized scour features, and submarine dune fields, displaying notable heterogeneity. Acoustic seabed reflections indicated two bedform clusters with maximum lengths of 42.6 m and heights of 1 m. Flow velocities were linked to the presence of 2D and 3D dune forms. Morphological variations encompassed straight, sinuous, and barchan dune configurations, mainly asymmetric with NNW–SSE seaward orientation. Sediment mean size fluctuations spanned from muddy to medium sand deposition. The findings revealed the intricate interplay of dynamics shaping dune field configurations and the heterogeneous dispersion of bedforms throughout the estuary likely due to a sharp decline of sediment discharge caused by the dam upstream and coastal engineering. The study emphasizes the dynamic nature of dunes, highlighting their sensitivity to shifting hydrodynamic conditions and sediment availability, leading to morphological fluctuations over time.

Unveiling Underwater Structures: MobileNet vs. EfficientNet in Sonar Image Detection

Deep learning techniques have led to an increased use of Convolutional Neural Networks (CNN) in recognizing images for marine surveys and classifying underwater objects. Applying CNN for the automatic identification of targets in side-scan sonar (SSS) images can boost accuracy and efficiency. Using transfer learning and deep learning as lenses, this work explores the field of underwater item detection. Comparing performance of MobileNet and EfficientNet in performing the task of underwater item classification from sonar images is the central research objective of this study. These two well-known convolutional neural networks were the subject of a thorough investigation to help explain this. In order to fine-tune pre-trained models on a dataset of sonar images, the study approach used the transfer learning technique. We conducted tests on MobileNet and EfficientNet and thoroughly assessed each of their accuracy levels. This study has two main conclusions. First, showing promise as a strong model for underwater object identification, EfficientNet performed exceptionally well in the classification challenge.

Side-Scan Sonar Image Classification With Zero-Shot and Style Transfer

Side-Scan Sonar Image Classification With Zero-Shot and Style Transfer

A Level Set Method With Heterogeneity Filter for Side-Scan Sonar Image Segmentation

A Level Set Method With Heterogeneity Filter for Side-Scan Sonar Image Segmentation

RPFNet: Recurrent Pyramid Frequency Feature Fusion Network for Instance Segmentation in Side-Scan Sonar Images

Side-scan sonar (SSS) is an essential acoustic sensor device for obtaining underwater information. The instance segmentation of sonar images can effectively locate and detect underwater objects. Although various CNN-based frameworks have achieved promising results in natural image instance segmentation, the noise interference, highlight shadow, and blurred edge in sonar images bring more significant challenges for sonar image instance segmentation. To solve these problems, we propose a novel recurrent pyramid frequency feature fusion network (RPFNet), which mainly consists of the pyramid frequency feature fusion network (PFN), recurrent residual attention mechanism (RRAM), mask prediction module, and semantic segmentation module. By enhancing and fusing different frequency features of SSS images, PFN can effectively extract fine-grained features and reduce background information interference. The RRAM uses residual structure and attention mechanism to enhance the correlation of different frequency features and improve nonlinear feature representation ability. The mask prediction and semantic segmentation modules are used to discriminate object instance categories and generate corresponding semantic segmentation results. We extensively evaluate the proposed framework on the real-scenes sonar image dataset. The evaluation results demonstrate that the proposed method outperforms the state-of-the-art methods in various evaluation metrics. Code is available at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/darkseid-arch/SonarRPFNet</uri> .

RepDNet: A re-parameterization despeckling network for autonomous underwater side-scan sonar imaging with prior-knowledge customized convolution

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, RepDNet, a novel and effective despeckling convolutional neural network is proposed. RepDNet 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 second-order derivatives and smoothing functions. During inference, the branches are re-parameterized into a 3 × 3 convolution, enabling efficient inference without sacrificing accuracy. RepDNet 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 RepDNet as a well-balanced network, meeting the AUV computational constraints in terms of performance and latency.

Improving Yolo5 for Real-Time Detection of Small Targets in Side Scan Sonar Images

Improving Yolo5 for Real-Time Detection of Small Targets in Side Scan Sonar Images

Detection of Small Objects in Side-Scan Sonar Images Using an Enhanced YOLOv7-Based Approach

Deep learning-based object detection methods have demonstrated remarkable effectiveness across various domains. Recently, there has been growing interest in applying these techniques to underwater environments. Conventional optical imaging methods face severe limitations when operating in underwater conditions, restricting their ability to identify objects with good visibility and at close distances. Consequently, side-scan sonar (SSS) has emerged as a common equipment choice for underwater detection due to its compatibility with the characteristics of sound waves in water. This paper introduces a novel method, termed the Enhanced YOLOv7-Based Approach, for detecting small objects in SSS images. Building upon the widely-adopted YOLOv7 method, the proposed approach incorporates several enhancements aimed at improving detection accuracy. First, a dedicated detection layer tailored for small objects is added to the original network architecture. Additionally, two attention mechanisms are integrated within the backbone and neck components of the network, respectively, to strengthen the network’s focus on object features. Finally, the network features are recombined based on the BiFPN structure. Experimental results demonstrate that the proposed method outperforms mainstream object detection algorithms. In comparison to the original YOLOv7 network, it achieves a Precision of 95.5%, indicating a significant improvement of 4.8%. Moreover, its Recall reaches 87.0%, representing an enhancement of 5.1%, while the mean Average Precision (mAP) at an IoU threshold of 0.5 (mAP@.5) reaches 86.9%, reflecting a 6.7% improvement. Furthermore, the mAP@.5:.95 reaches 55.1%, a 4.8% enhancement. Therefore, the method presented in this paper enhances the performance of YOLOv7 for object detection in SSS images, providing a fresh perspective on small object detection based on SSS images and contributing to the advancement of underwater detection techniques.

Review of Object Detection Algorithms for Sonar Images based on Deep Learning

Background: Deep learning object detection algorithm is widely used in the field of image classification and has become an indispensable part. With the improvement of image classification accuracy, sonar image target detection algorithm based on deep learning has gradually become the focus of more and more people's research. Objective: This article aims to provide a summary and analysis of deep learning-based sonar image object detection algorithms, with the hope of offering insights for future research in the field of sonar target detection technology. Method: This paper systematically summarizes sonar image target detection algorithms based on deep learning. According to the method principle, the existing deep learning target detection algorithms are divided into four categories: target detection algorithm based on candidate region, deep target detection method based on regression, Anchor Free deep learning target detection algorithm, and search-based target detection and recognition algorithm. Then, the performance of algorithms based on COCO data sets is compared, and the standard sonar data sets and formats are introduced. Results: The sonar image object detection algorithm based on deep learning has made significant progress. The combination of deep learning and object detection methods has been applied to sonar images, resulting in the emergence of excellent performing algorithms. However, most algorithms are still in the developmental stage and face challenges in practical applications. Subsequently, several invention patents have been developed based on the aforementioned algorithms, including a feature extraction method for side-scan sonar images based on fully convolutional neural networks, an underwater sonar image target detection method based on improved YOLOv3-tiny, and more. Conclusion: Sonar image object detection technology based on deep learning has a wide range of application needs but also faces many difficulties and challenges, we still need to continue to learn and explore in future research, and we believe that we can make greater breakthroughs in the future.

Underwater Wireless Sensor Network-Based Delaunay Triangulation (UWSN-DT) Algorithm for Sonar Map Fusion

Abstract Robust and fast image recognition and matching is an important task in the underwater domain. The primary focus of this work is on extracting subsea features with sonar sensor for further Autonomous Underwater Vehicle navigation, such as the robotic localization and landmark mapping applications. With the assistance of high-resolution underwater features in the Side Scan Sonar (SSS) images, an efficient feature detector and descriptor, Speeded Up Robust Feature, is employed to seabed sonar image fusion task. In order to solve the nonlinear intensity difference problem in SSS images, the main novelty of this work is the proposed Underwater Wireless Sensor Network-based Delaunay Triangulation (UWSN-DT) algorithm for improving the performances of sonar map fusion accuracy with low computational complexity, in which the wireless nodes are considered as underwater feature points, since nodes could provide sufficiently useful information for the underwater map fusion, such as the location. In the simulated experiments, it shows that the presented UWSN-DT approach works efficiently and robustly, especially for the subsea environments where there are few distinguishable feature points.