arXiv:2608. 19710v1 Announce Type: cross Abstract: Reliable underwater robotic perception remains difficult because optical imagery degrades under turbidity, wavelength-dependent attenuation, low illumination, scattering, and blur.
arXiv:2608.22072v1 Announce Type: new Abstract: Autonomous underwater vehicles (AUVs) are increasingly important tools in industries ranging from research, to energy, to defense. AUVs are power-const...
The paper presents a three‑stage, parameter‑efficient approach to improve automatic target recognition (ATR) with synthetic aperture sonar (SAS) data by adapting DINOv3 Vision Transformers. Stage 1 applies Low‑Rank Adaptation (LoRA) while freezing the backbone, which significantly boosts the area under the precision‑recall curve from 0.300 to 0.679. Subsequent hard‑negative mining and supervised contrastive learning stages show negligible impact, indicating that a single LoRA adaptation is sufficient for effective underwater ATR.
Infrared small target detection (IRSTD) is important for low-altitude perception, unmanned-system warning, and security monitoring. However, weak targets in infrared imagery usually occupy only a few pixels and are easily submerged by cloud clutter, ground edges, and bright noise, making it difficult for lightweight segmentation-based methods to preserve local target structures while suppressing background interference.
arXiv:2609.23061v1 Announce Type: new Abstract: Small-object detection in UAV imagery is challenged by weak visual evidence, ambiguous boundaries, dense object distributions, and complex backgrounds....
RSFusionDet introduces a new RGB‑Sonar multimodal object detection dataset (RSFusion) and benchmark metrics for underwater imaging. The proposed detector uses a Cross‑Attention Fusion module to align RGB and sonar features and an Object Matching Head with loss to identify identical objects across modalities. On the RSFusion dataset, RSFusionDet achieves 76.4/48.6 AP for RGB/sonar detection and 83.4 F1‑Score for cross‑modal matching, outperforming existing models and improving over the DINO baseline by 0.7/1.4 AP.
arXiv:2511. 21325v2 Announce Type: replace-cross Abstract: Deepfake (DF) audio detectors still struggle to generalize to out of distribution inputs.
The paper investigates Automatic Target Recognition (ATR) in Synthetic Aperture Sonar (SAS) imagery, comparing modern convolutional neural networks (CNNs) and transformer-based deep neural networks (DNNs). It examines how factors such as network size, architecture, pretraining methods, data augmentation, and regularization influence performance, aiming to identify the highest-performing model and provide a training roadmap for state‑of‑the‑art SAS‑ATR systems.
SonarLLM is a multimodal large language model that treats sonar as a native perceptual modality, combining a sonar‑specific encoder, physics‑aware feature enhancement, and reliability‑aware hierarchical fusion to align acoustic structure with optical semantics. The authors introduce SonarBench, a benchmark covering recognition, counting, visual question answering, and captioning across sonar‑only, optical‑only, and fusion settings, enabling controlled measurement of cross‑modal complementarity. SonarLLM achieves 72.0% macro accuracy on sonar‑only tasks and 68.7% under fusion, outperforming baselines by significant margins and demonstrating increasing fusion gains as optical visibility degrades.
arXiv:2608.23215v1 Announce Type: cross Abstract: Automated perception in side-scan sonar (SSS) imagery is severely hindered by physical acoustic artifacts, resulting in representations that inextric...
The paper presents a compact underwater acoustic classification framework that integrates multi-representation feature engineering, temporal statistical pooling, and lightweight convolutional architectures for acoustic time-frequency and cochlear representations. Experiments on the ShipsEar dataset show a two-layer CNN achieving a macro F1 of 0.9918 and an RBF-SVM reaching 0.9883, but recording provenance issues limit verification of generalisation. When evaluated on the DeepShip dataset with recording-level partitioning, a 157K-parameter CNN attains a macro F1 of 0.7226, while a larger ResNet18 does not improve validation performance, underscoring the need for representation-aware design and rigorous evaluation for deployable systems.
arXiv:2606. 23825v1 Announce Type: cross Abstract: Efficient small object detection is bottlenecked by the inherent feature scarcity of tiny targets, which is further aggravated by operations of spatial-domain detectors that indiscriminately discard critical high-frequency details.