Have a personal or library account? Click to login
Real Time Object Detection for Autonomous AUVS Using an Attention–Based Fast–Rcnn Framework Cover

Real Time Object Detection for Autonomous AUVS Using an Attention–Based Fast–Rcnn Framework

Open Access
|Mar 2026

References

  1. Boudhane, M. and Toulni, H. (2024). An adaptive fast-RCNN method for fish monitoring: From an artificial environment to the ocean, in M.B. Ahmed et al. (Eds.), Information Systems and Technological Advances for Sustainable Development, Springer, Berlin/Heidelberg, pp. 301–309, DOI: 10.1007/978-3-031-75329-933.
  2. Boudhane, M., Balcers, O. and Nsiri, B. (2019). Underwater exploration issues: deep study on optical underwater vision for an effective traditional fishing, ICWIP 2019: Proceedings of the 2019 2nd International Conference on Watermarking and Image Processing, Marseille, France, pp. 32–35, DOI: 10.1145/3369973.3369981.
  3. Boudhane, M. and Balcers, O. (2019). Underwater image enhancement method using color channel regularization and histogram distribution for underwater vehicles AUVs and ROVs, International Journal of Circuits 13(1): 571–578.
  4. Boudhane, M., Nsiri, B. and Belhoussine, T.D. (2018). Underwater optical fish classification system by means of robust feature decomposition and analysis using multiple neural networks, International Journal of Advanced Computer Science and Applications 9(12): pp 621–630, DOI: 10.14569/IJACSA.2018.091286.
  5. Cai, S., Zhou, X., Cai, W., Wei, L. and Mo, Y. (2025). Lightweight underwater object detection method based on multi-scale edge information selection, Scientific Reports 15(1): 27681, DOI: 10.1038/s41598-025-13566-3.
  6. Cai, W. and Zhang, M. (2025). Multi-modality object detection with sonar and underwater camera via object-shadow feature generation and saliency information, Expert Systems with Applications 287(C): 128021, DOI: 10.1016/j.eswa.2025.128021.
  7. Chen, G., Mao, Z., Wang, K., and Shen, J. (2023). HTDet: A hybrid transformer-based approach for underwater small object detection, Remote Sensing 15(4): 1076, DOI: 10.3390/rs15041076.
  8. Chen, Y.-W. and Pei, S.-C. (2022). Domain adaptation for underwater image enhancement via content and style separation, IEEE Access 10(1): 1-1, DOI: 10.1109/ACCESS.2022.3201555.
  9. Czapiewska, A., Łuksza, A., Schmidt, J.H., Studański, R., Wojewódka, Ł. and Żak, A. (2025). Doppler shift determination methods dedicated to MBFSK modulation, International Journal of Applied Mathematics and Computer Science 35(3): 467–477, DOI: 10.61822/amcs-2025-0033.
  10. Deng X., Liu T., He S., Xiao X., Li, P. and Gu, Y. (2023). An underwater image enhancement model for domain adaptation, Frontiers in Marine Science 10(1): 1138013, DOI: 10.3389/fmars.2023.1138013.
  11. Durlik, I., Miller, T., Kostecka, E., Kozlovska, P., and Slaczka, W. (2025). Enhancing safety in autonomous maritime transportation systems with real-time AI agents, Applied Sciences 15(9): 4986, DOI: 10.3390/app15094986.
  12. Elmezain, M., Saad Saoud, L., Sultan, A., Heshmat, M., Seneviratne, L. and Hussain, I. (2025). Advancing underwater vision: A survey of deep learning models for underwater object recognition and tracking, IEEE Access 13(1): 17830–17867, DOI: 10.1109/ACCESS.2025.3534098
  13. Folkman, L., Pitt, K.A. and Stantic, B. (2025). A data-centric framework for combating domain shift in underwater object detection with image enhancement, Applied Intelligence 55(4): 272, DOI: 10.1007/s10489-024-06224-0.
  14. Gao, F., Huang, T., Wang, J., Sun, J., Hussain, A., and Yang, E. (2017). Dual-branch deep convolution neural network for polarimetric SAR image classification, Applied Sciences 7(5): 447, DOI: 10.3390/app7050447.
  15. Guo, L., Liu, X., Ye, D., He, X., Xia, J. and Song, W. (2025a). Underwater object detection algorithm integrating image enhancement and deformable convolution, Ecological Informatics 89: 103185, DOI: 10.1016/j.ecoinf.2025.103185.
  16. Guo, F., Ren, P. and Luo, C. (2025b). UTNet: Event-RGB multimodal fusion model for underwater transparent organism detection, Intelligent Marine Technology and Systems 3(18): 1953–2948, DOI: 10.1007/s44295-025-00065-4.
  17. Guo, P., Zeng, D., Tian, Y., Liu, S., Liu, H. and Li, D. (2020). Multi-scale enhancement fusion for underwater sea cucumber images based on human visual system modelling, Computers and Electronics in Agriculture 175(1): 105608, DOI: 10.1016/j.compag.2020.105608.
  18. Gregory, J., Miehls, S.M., Eickholt, J.L., and Zielinski, D.P. (2025). A real-time fish detection system for partially dewatered fish to support selective fish passage, Sensors 25(4): 1022, DOI: 10.3390/s25041022.
  19. Hasan, K., Ahmad S., Liaf A.F., Karimi M., Ahmed T., Shawon M.A. and Mekhil, S. (2024). Oceanic challenges to technological solutions: A review of autonomous underwater vehicle path technologies in biomimicry, control, navigation, and sensing, IEEE Access 12(1): 46202–46231, DOI: 10.1109/ACCESS.2024.3380458
  20. Han, J., Zhou, J., Wang, L., Wang, Y., and Ding, Z. (2023). FE-GAN: Fast and efficient underwater image enhancement model based on conditional GAN, Electronics 12(5): 1227, DOI: 10.3390/electronics12051227.
  21. He, B., Zhang, Q., Tong, M., and He, C. (2022). An anchor-free method based on adaptive feature encoding and Gaussian-guided sampling optimization for ship detection in SAR imagery, Remote Sensing 14(7): 1738, DOI: 10.3390/rs14071738.
  22. Jian, M., Yang, N., Tao, C., Zhi, H. and Sluo, H. (2024). Underwater object detection and datasets: A survey, Intelligent Marine Technology and Systems 2(9): 1–12, DOI: 10.1007/s44295-024-00023-6.
  23. Kapoor, M., Baghel, R., Badri, N.,Š, Jakhetiya, V., Bansal, A., Jammu, J. and Kashmir, I. (2023). Domain adversarial learning towards underwater image enhancement, IEEE/CVF International Conference on Computer Vision Workshops (ICCVW), Paris, France, pp. 2233–2243, DOI: 10.1109/ICCVW60793.2023.00238.
  24. Kaur, A., Rani, S. and Shabaz, M. (2025). Underwater image dehazing using a hybrid GAN with bottleneck attention and improved Retinex-based optimization, Scientific Reports 15(1): 26132, DOI: 10.1038/s41598-025-11815-z.
  25. Magdy, A., Moustafa, M.S., Ebied, H.M. and Tolba, M.F. (2025). Lightweight faster R-CNN for object detection in optical remote sensing images, Scientific Reports 15(1): 16163, DOI: 10.1038/s41598-025-99242-y.
  26. Mello, C.D., Moreira, B.M., Dias de Oliveira Evald, P.J., Lilles Drews, P.J. and da Costa Botelho, S.S. (2022). Underwater enhancement based on a self-learning strategy and attention mechanism for high-intensity regions, Computers and Graphics 107(1): 264–276, DOI: 10.1016/j.cag.2022.08.003.
  27. Peng, X., Yuelei, X., Hong, T., Shiping, M., Shuai, L. and Chao, L. (2018). Fast airplane detection based on multi-layer feature fusion of fully convolutional networks, Acta Optica Sinica 38(3): 315003, DOI: 10.3788/AOS201838.0315003
  28. Priyadharsini, R. and Sree Sharmila, T. (2019). Object detection in underwater acoustic images using edge based segmentation method, Procedia Computer Science 165(1): 759-765, DOI: 10.1016/j.procs.2020.01.015.
  29. Wang, Z., Ruan, Z., and Chen, C. (2024). DyFish-DETR: Underwater fish image recognition based on detection transformer, Journal of Marine Science and Engineering 12(6): 864, DOI: 10.3390/jmse12060864.
  30. Wang, R., Wang, Z., Xu, Z., Wang, C., Liu, Q. and Zhang, Y. (2021). A real-time object detector for autonomous vehicles based on YOLOv4, Computational Intelligence and Neuroscience 2021(12), DOI: 10.1155/2021/9218137.
  31. Wu, Z., Chen, X., Lu Y. and Yu, J. (2024). Self-supervised underwater image generation for underwater domain pre-training, IEEE Transactions on Instrumentation and Measurement 73, Article no. 5012714, DOI: 10.1109/TIM.2024.3373105.
  32. Zhang, J., Zhang, J., Zhou, K., Zhang, Y., Chen, H., and Yan, X. (2023). An improved YOLOv5-based underwater object-detection framework, Sensors 23(7): 3693, DOI: 10.3390/s23073693.
  33. Zhou, J., Wei, X., Shi, J., Chu, W. and Lin, Y. (2022). Underwater image enhancement via two-level wavelet decomposition maximum brightness color restoration and edge refinement histogram stretching, Optics Express 30(10): 17290–17306.
  34. Xiao, Z., Li, Z., Li, H., Li, M., Liu, X., and Kong, Y. (2024). Multi-scale feature fusion enhancement for underwater object detection, Sensors 24(22): 7201, DOI: 10.3390/s24227201.
DOI: https://doi.org/10.61822/amcs-2026-0006 | Journal eISSN: 2083-8492 | Journal ISSN: 1641-876X
Language: English
Page range: 67 - 79
Submitted on: Aug 19, 2025
|
Accepted on: Nov 21, 2025
|
Published on: Mar 21, 2026
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year

© 2026 Mohcine Boudhane, Hamza Toulni, published by University of Zielona Góra
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.