Improved PSPNet-based water shoreline detection in complex inland river scenarios

Abstract

Abstract The water shoreline is essential for unmanned surface vessels (USVs) to navigate autonomously. Many existing traditional water shoreline detections approaches not only fail to overcome the effects of water reflections, image inversions, and other factors but are also unsuitable for water shoreline detection in a variety of weather conditions and in complex inland river scenarios. Therefore, we propose a water shoreline detection approach based on an enhanced Pyramid Scene Parsing Network (PSPNet). We introduce a migration learning approach to the PSPNet feature backbone extraction network Resnet50 to improve training efficiency and add a Convolutional Block Attention Module (CBAM) attention mechanism module to improve the robustness of training. In addition, the pyramid pooling module adds the branch of the atrous convolution module. Finally, the waterfront segmentation map is processed by the Canny edge detection method, which detects the water shorelines. For the network's training and validation, we use the USVInland dataset, the world's first urban inland driverless dataset. The experimental results show that the segmentation accuracy MIou of this paper is 96.87% and Accuracy is 98.41, which are higher than some mainstream algorithms. It is capable of detecting water shorelines accurately in a variety of interior river situations.

Keywords

• PSPNet
• Water bank image segmentation
• Attention mechanism
• Edge detection
• Water shoreline detection