Small target detection in sonar images with multilevel feature screening and task dynamic alignment

Fig. 8. SCTD sonar image data enhancement. (a) Original image; (b) Random removal of pixel points; (c) Sharpening process; (d) Adjustment of brightness; (e) Adjustment of hue; (f) Image flipping

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Fig. 9. Comparison of detection results of different methods for sonar images in URPC 2021. (a) RetinaNet^[²⁸^]; (b) PAA^[²⁹^]; (c) CenterNet^[³⁰^];(d) SparseRCNN^[³¹^]; (e) YOLOF^[³²^]; (f) TOOD^[³³^]; (g) VarifocalNet^[³⁴^];(h) DSA-Net^[³⁵^]

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Fig. 10. Comparison of detection results of different methods for sonar images in URPC 2021. (a) YOLOv5; (b) YOLOv6; (c) YOLOv7; (d) YOLOv8s; (e) This paper

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Table 1. Results of ablation experiments on URPC2021 dataset

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Table 1. Results of ablation experiments on URPC2021 dataset

Algorithm	HSFPN	EMS-FPN	TDADH	Precision/%	Recall/%	Params/M	mAP0.5/%
YOLOv8s	×	×	×	97.3	96.4	11.1	97.9
YOLOv8s	√	×	×	97.4	96.1	7.1	97.8
YOLOv8s	×	√	×	96.9	96.6	7.3	98.1
YOLOv8s	×	×	√	96.9	96.2	8.8	97.8
YOLOv8s	×	√	√	97.4	96.8	8.6	98.2

Table 2. Results of small target category ablation experiments in the URPC2021 dataset

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Table 2. Results of small target category ablation experiments in the URPC2021 dataset

Algorithm	HSFPN	EMS-FPN	TDADH	Params/M	Precision/%	Recall/%	Ball/%	Cylinder/%	Tyre/%
YOLOv8s	×	×	×	11.1	97.3	96.4	98.6	96.8	96.7
YOLOv8s	√	×	×	7.1	97.4	96.1	98.8	96.8	97
YOLOv8s	×	√	×	7.3	96.9	96.6	98.9	97.4	97.5
YOLOv8s	×	×	√	8.8	96.9	96.2	98.3	96.6	96.5
YOLOv8s	×	√	√	8.6	97.4	96.8	99.3	98.2	97.5

Table 3. Comparison of accuracy and mAP@50 for different underwater objects on URPC2021 dataset with other methods

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Table 3. Comparison of accuracy and mAP@50 for different underwater objects on URPC2021 dataset with other methods

Algorithm	Cube/%	Ball/%	Cylinder/%	Human body/%	Trye/%	Circle cage/%	Square cage/%	Metal bucket/%	mAP0.5/%
RetinaNet^[28]	92.6	94.0	83.0	86.5	72.7	83.3	92.0	58.5	82.8
PAA^[29]	95.3	93.6	88.2	94.1	73.7	91.5	95.1	81.4	89.1
CenterNet^[30]	91.9	96.8	84.2	96.4	89.5	85.2	97.7	88.1	91.2
SparseRCNN^[31]	97.4	96.8	89.0	97.6	89.2	93.1	98.5	88.0	93.7
YOLOF^[32]	95.5	91.9	87.1	92.0	66.7	72.9	88.8	62.0	82.1
TOOD^[33]	96.4	95.1	88.6	93.4	76.9	91.2	96.9	85.8	90.5
VarifocalNet^[34]	96.4	94.6	90.1	95.0	79.5	91.5	96.7	85.4	91.2
DSA-Net^[35]	97.9	98.0	94.2	98.4	94.9	93.2	99.2	94.0	96.2
YOLOv5	97.9	98.3	95.9	98.8	97.5	96.0	99.4	95.5	97.4
YOLOv6	98.0	98.7	96.2	99.4	96.9	96.1	99.3	97.4	97.7
YOLOv7	96.2	97.5	92.9	94.9	91.3	91.6	98.5	98.0	95.1
YOLOv8s	97.7	98.6	96.8	99.5	96.7	97.5	99.2	97.2	97.9
本文模型	97.7	99.3	98.2	99.5	97.5	97.3	98.7	97.8	98.2

Table 4. Results of comparison experiments on SCTD dataset

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Table 4. Results of comparison experiments on SCTD dataset

Algorithm	HSFPN	EMS-FPN	TDADH	Params/M	Precision/%	Recall/%	Ship(small)/%	mAP0.5/%
YOLOv8s	×	×	×	11.1	94.0	92.4	93.4	96.3
YOLOv8s	√	×	×	7.1	95.2	91.5	95.4	97.0
YOLOv8s	×	√	×	7.3	96.1	92.1	95.6	97.0
YOLOv8s	×	×	√	8.8	97.4	94.1	97.3	97.4
YOLOv8s	×	√	√	8.6	97.1	94.4	97.8	98.1

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Yan Wang, Honghui Wang, Shudong Liu, Yan Zhang, Zeyu Hao. Small target detection in sonar images with multilevel feature screening and task dynamic alignment[J]. Opto-Electronic Engineering, 2024, 51(10): 240196

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