Visual inspection of underwater structures by vehicles, e.g. remotely operated vehicles (ROVs), plays an important role in scientific, military, and commercial sectors. However, the automatic extraction of information using software tools is hindered by the characteristics of water which degrade the quality of captured videos. As a contribution for restoring the color of underwater images, Underwater Denoising Autoencoder (UDAE) model is developed using a denoising autoencoder with U-Net architecture. The proposed network takes into consideration the accuracy and the computation cost to enable real-time implementation on underwater visual tasks using end-to-end autoencoder network. Underwater vehicles perception is improved by reconstructing captured frames; hence obtaining better performance in underwater tasks. Related learning methods use generative adversarial networks (GANs) to generate color corrected underwater images, and to our knowledge this paper is the first to deal with a single autoencoder capable of producing same or better results. Moreover, image pairs are constructed for training the proposed network, where it is hard to obtain such dataset from underwater scenery. At the end, the proposed model is compared to a state-of-the-art method.
As an improvement over the aforementioned data generation method, , 2018 @cite_1 and , 2018 @cite_15 used CycleGAN @cite_14 for generating underwater images. After synthesizing the data, it was later used for training their color restoration model.
@cite_15 @cite_14 @cite_1
2964088115 2962793481 2767009334
Autonomous underwater vehicles (AUVs) rely on a variety of sensors - acoustic, inertial and visual - for intelligent decision making. Due to its non-intrusive, passive nature and high information content, vision is an attractive sensing modality, particularly at shallower depths. However, factors such as light refraction and absorption, suspended particles in the water, and color distortion affect the quality of visual data, resulting in noisy and distorted images. AUVs that rely on visual sensing thus face difficult challenges and consequently exhibit poor performance on vision-driven tasks. This paper proposes a method to improve the quality of visual underwater scenes using Generative Adversarial Networks (GANs), with the goal of improving input to vision-driven behaviors further down the autonomy pipeline. Furthermore, we show how recently proposed methods are able to generate a dataset for the purpose of such underwater image restoration. For any visually-guided underwater robots, this improvement can result in increased safety and reliability through robust visual perception. To that effect, we present quantitative and qualitative data which demonstrates that images corrected through the proposed approach generate more visually appealing images, and also provide increased accuracy for a diver tracking algorithm. Image-to-image translation is a class of vision and graphics problems where the goal is to learn the mapping between an input image and an output image using a training set of aligned image pairs. However, for many tasks, paired training data will not be available. We present an approach for learning to translate an image from a source domain X to a target domain Y in the absence of paired examples. Our goal is to learn a mapping G : X → Y such that the distribution of images from G(X) is indistinguishable from the distribution Y using an adversarial loss. Because this mapping is highly under-constrained, we couple it with an inverse mapping F : Y → X and introduce a cycle consistency loss to push F(G(X)) ≈ X (and vice versa). Qualitative results are presented on several tasks where paired training data does not exist, including collection style transfer, object transfiguration, season transfer, photo enhancement, etc. Quantitative comparisons against several prior methods demonstrate the superiority of our approach. Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images, but limits the ability of vision tasks. Different from existing methods that either ignore the wavelength dependence on the attenuation or assume a specific spectral profile, we tackle color distortion problem of underwater images from a new view. In this letter, we propose a weakly supervised color transfer method to correct color distortion. The proposed method relaxes the need for paired underwater images for training and allows the underwater images being taken in unknown locations. Inspired by cycle-consistent adversarial networks, we design a multiterm loss function including adversarial loss, cycle consistency loss, and structural similarity index measure loss, which makes the content and structure of the outputs same as the inputs, meanwhile the color is similar to the images that were taken without the water. Experiments on underwater images captured under diverse scenes show that our method produces visually pleasing results, even outperforms the state-of-the-art methods. Besides, our method can improve the performance of vision tasks.