Illumination Adaptive Multi-Scale Water Surface Object Detection with Intrinsic Decomposition Augmentation

Abstract

Visual object detection is an essential task for the intelligent navigation of an Unmanned Surface Vehicle (USV), which can sense the obstacles while navigating. However, the harsh illumination conditions and large scale variation of the objects significantly harm the performance of object detection methods. To address the above problems, we propose a robust water surface object detection method named multi-scale feature fusion network with intrinsic decomposition generative adversarial network data augmentation (MFFDet-IDGAN). We introduce intrinsic decomposition as data augmentation for the object detection to achieve illumination adapting. And an intrinsic decomposition generative adversarial network (IDGAN) is proposed to achieve unsupervised intrinsic decomposition. Moreover, the multi-scale feature fusion network (MFFDet) adopts an improved bidirectional feature pyramid network (BiFPN) and spatial pyramid pooling (SPP) blocks to fuse features of different resolution for better multi-scale detection. And an improved weighted stochastic weight averaging (SWA) is proposed and applied in the training process to improve the generalization performance. We conduct extensive experiments on the Water Surface Object Detection Dataset (WSODD), and the results show that the proposed method can achieve 44% improvement over the baseline. And we further test our method on a real USV in the sailing process, the results show that our method can exceeding the baseline by 4.5%.