Maritime video surveillance of visual perception system has become an essential method to guarantee unmanned surface vessels (USV) traffic safety and security in maritime applications. However, when visual data are collected in a foggy marine environment, the essential optical information is often hidden in the fog, potentially resulting in decreased accuracy of ship detection. Therefore, a dual-channel and two-stage dehazing network (DTDNet) is proposed to improve the clarity and quality of the image to guarantee reliable ship detection under foggy conditions. Specifically, an upper and lower sampling structure is introduced to expand the original two-stage dehazing network into a two-channel network, to further capture the image features from different scale. Meanwhile, the attention mechanism is combined to provide different weights for different feature maps to maintain more image information. Furthermore, the perceptual function is constructed with the MSE-based loss function, so that it can better reduce the gap between the dehazing image and the unhazy image. Extensive experiments show that DTDNet has a better dehazing performance on both visual effects and quantitative index than other state-of-the-art dehazing networks. Moreover, the dehazing network is combined with the problem of ship detection under a sea-fog environment, and experiment results demonstrate that our network can be effectively applied to improve the visual perception performance of USV.
As a classical problem for computer vision, moving object detection (MOD) can be efficiently achieved by foreground and background separation. The Robust Principal Component Analysis (RPCA)-based method has been potentially utilized to solve the problem. However, the detection accuracy for RPCA-based method is limited for complex scenes with slow-motion. Besides, it is time consuming for the way to seek for background modeling based on solving a low-rank minimization problem, for which multiple frames of the videos are required as the input. Therefore, a real-time MOD framework (LSRPCA_KF) is proposed for the dynamic background, where a weighted low-rank and structured sparse RPCA algorithm is used to achieve background modeling for history data, while the online MOD is achieved by the background subtraction method and updated by the Kalman filter for every real time frame. Specifically, for the background model, a newly designed weight is incorporated to distinguish the significance of different singular values, and a structured sparse prior is added to penalty the spatial connection property of the moving object. Besides, the weighted low-rank and structured sparse RPCA model is efficiently solved by the Alternating Direction Method of Multipliers (ADMM) optimization algorithm. Experimental results demonstrated that better performance of our method with significantly reduced delay in processing and better detect the moving object has been achieved, especially for the dynamic background.
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