Fig. 1. RBD detection model

Fig. 2. Comparison of images before and after Tophat-algorithm preprocessing. (a) Original image; (b) after Tophat-algorithm preprocessing

Fig. 3. Comparison of segmented ships with fixed K value and adaptive K value. (a) Original image; (b) fixed K value; (c) adaptive K value

Fig. 4. Comparison of ship detection from RBD model and improved RBD model. (a) Original image; (b) RBD model; (c) improved RBD model

Fig. 5. Comparison of Otsu segmentation algorithms before and after improvement. (a) Original image; (b) Otsu algorithm; (c) improved Otsu algorithm

Fig. 6. Saliency images without wakes of detections by various algorithms on simple sea surface. (a) Original image; (b) CA algorithm; (c) COV algorithm; (d) GS algorithm; (e) MR algorithm; (f) SF algorithm; (g) RBD algorithm; (h) proposed algorithm

Fig. 7. Saliency images with wakes of detections by various algorithms on sea clutter. (a) Original image; (b) CA algorithm; (c) COV algorithm; (d) GS algorithm; (e) MR algorithm; (f) SF algorithm; (g) RBD algorithm; (h) proposed algorithm

Fig. 8. Saliency images of detections by various algorithms on oily sea surface. (a) Original image; (b) CA algorithm; (c) COV algorithm; (d) GS algorithm; (e) MR algorithm; (f) SF algorithm; (g) RBD algorithm; (h) proposed algorithm

Fig. 9. Saliency images of detections by various algorithms under thin clouds. (a) Original image; (b) CA algorithm; (c) COV algorithm; (d) GS algorithm; (e) MR algorithm; (f) SF algorithm; (g) RBD algorithm; (h) proposed algorithm

Fig. 10. Saliency images of small ship detection by various algorithms. (a) Original image; (b) CA algorithm; (c) COV algorithm; (d) GS algorithm; (e) MR algorithm; (f) SF algorithm; (g) RBD algorithm; (h) proposed algorithm

Fig. 11. Comparison of saliency detection results by different algorithms