Fig. 1. schematic design of system

Fig. 2. Convolution diagram

Fig. 3. Algorithm hierarchy

Fig. 4. TSE and SSE derivative images

Fig. 5. Images with different rotation angles. (a) 0°; (b) 135°; (c) 270°; (d) 225°

Fig. 6. Images with different noises. (a) 1.0×10⁵ pixel; (b) 1.5×10⁵ pixel; (c) 2.0×10⁵ pixel; (d) 5.0×10⁴ pixel

Fig. 7. Images with different random contrast and brightness. (a) (75:100,125); (b) (150:100,125); (c) (60:100,105); (d) (60:100,150); (e) (78:100,100); (f) (78:100,150); (g) (67:100,100); (h) (77:100,123); (i) (77:100,197)

Fig. 8. Analysis diagram of relationship between deviation and river bank line

Fig. 9. Identification result of waterfront

Fig. 10. Comparison of mAP values change trends in 4 cases

Fig. 11. Change curve of average L values

Fig. 12. Change curve of average IOU

Fig. 13. Schematic of target recognition test. (a) Boat; (b) bottle; (c) buoy; (d) foam

Fig. 14. Change curve of recognition speed