A Real-Time Framework for Domain-Adaptive Underwater Object Detection with Image Enhancement

TL;DR

This paper introduces EnYOLO, a real-time, domain-adaptive framework that simultaneously enhances underwater images and detects objects, optimizing performance and efficiency for autonomous underwater vehicle applications.

Contribution

The paper presents a lightweight, integrated framework with multi-task training and domain adaptation, enabling real-time underwater image enhancement and object detection.

Findings

Achieves state-of-the-art performance in UIE and UOD tasks.

Demonstrates superior adaptability across different underwater environments.

Ensures real-time processing suitable for onboard deployment.

Abstract

In recent years, significant progress has been made in the field of underwater image enhancement (UIE). However, its practical utility for high-level vision tasks, such as underwater object detection (UOD) in Autonomous Underwater Vehicles (AUVs), remains relatively unexplored. It may be attributed to several factors: (1) Existing methods typically employ UIE as a pre-processing step, which inevitably introduces considerable computational overhead and latency. (2) The process of enhancing images prior to training object detectors may not necessarily yield performance improvements. (3) The complex underwater environments can induce significant domain shifts across different scenarios, seriously deteriorating the UOD performance. To address these challenges, we introduce EnYOLO, an integrated real-time framework designed for simultaneous UIE and UOD with domain-adaptation capability. Specifically, both the UIE and UOD task heads share the same network backbone and utilize a lightweight design. Furthermore, to ensure balanced training for both tasks, we present a multi-stage training strategy aimed at consistently enhancing their performance. Additionally, we propose a novel domain-adaptation strategy to align feature embeddings originating from diverse underwater environments. Comprehensive experiments demonstrate that our framework not only achieves state-of-the-art (SOTA) performance in both UIE and UOD tasks, but also shows superior adaptability when applied to different underwater scenarios. Our efficiency analysis further highlights the substantial potential of our framework for onboard deployment.