Side-Scan Sonar Image Generator Based on Diffusion Models for Autonomous Underwater Vehicles

Abstract

In the field of underwater perception and detection, side-scan sonar (SSS) plays an indispensable role. However, the imaging mechanism of SSS results in slow information acquisition and high complexity, significantly hindering the advancement of downstream data-driven applications. To address this challenge, we designed an SSS image generator based on diffusion models. We developed a data collection system based on Autonomous Underwater Vehicles (AUVs) to achieve stable and rich data collection. For the process of converting acoustic signals into image signals, we established an image compensation method based on nonlinear gain enhancement to ensure the reliability of remote signals. On this basis, we developed the first controllable category SSS image generation algorithm, which can generate specified data for five categories, demonstrating outstanding performance in terms of the Fréchet Inception Distance (FID) and the Inception Score (IS). We further evaluated our image generator in the task of SSS object detection, and our cross-validation experiments showed that the generated images contributed to an average accuracy improvement of approximately 10% in object detection. The experimental results validate the effectiveness of the proposed SSS image generator in generating highly similar sonar images and enhancing detection accuracy, effectively addressing the issue of data scarcity.