A semantic segmentation-based underwater acoustic image transmission framework for cooperative SLAM

Abstract

With the development of underwater sonar detection technology, simultaneous localization and mapping (SLAM) approach has attracted much attention in underwater navigation field in recent years. But the weak detection ability of a single vehicle limits the SLAM performance in wide areas. Thereby, cooperative SLAM using multiple vehicles has become an important research direction. The key factor of cooperative SLAM is timely and efficient sonar image transmission among underwater vehicles. However, the limited bandwidth of underwater acoustic channels contradicts a large amount of sonar image data. It is essential to compress the images before transmission. Recently, deep neural networks have great value in image compression by virtue of the powerful learning ability of neural networks, but the existing sonar image compression methods based on neural network usually focus on the pixel-level information without the semantic-level information. In this paper, we propose a novel underwater acoustic transmission scheme called UAT-SSIC that includes semantic segmentation-based sonar image compression (SSIC) framework and the joint source-channel codec, to improve the accuracy of the semantic information of the reconstructed sonar image at the receiver. The SSIC framework consists of Auto-Encoder structure-based sonar image compression network, which is measured by a semantic segmentation network's residual. Considering that sonar images have the characteristics of blurred target edges, the semantic segmentation network used a special dilated convolution neural network (DiCNN) to enhance segmentation accuracy by expanding the range of receptive fields. The joint source-channel codec with unequal error protection is proposed that adjusts the power level of the transmitted data, which deal with sonar image transmission error caused by the serious underwater acoustic channel. Experiment results demonstrate that our method preserves more semantic information, with advantages over existing methods at the same compression ratio. It also improves the error tolerance and packet loss resistance of transmission.

Keywords

• Semantic segmentation
• Sonar image transmission
• Learning-based compression