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arXiv · 2003.01913

Reveal of Domain Effect: How Visual Restoration Contributes to Object Detection in Aquatic Scenes

Xingyu Chen·Yue Lu·Zhengxing Wu·Junzhi Yu·Li Wen
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Abstract

Underwater robotic perception usually requires visual restoration and object detection, both of which have been studied for many years. Meanwhile, data domain has a huge impact on modern data-driven leaning process. However, exactly indicating domain effect, the relation between restoration and detection remains unclear. In this paper, we generally investigate the relation of quality-diverse data domain to detection performance. In the meantime, we unveil how visual restoration contributes to object detection in real-world underwater scenes. According to our analysis, five key discoveries are reported: 1) Domain quality has an ignorable effect on within-domain convolutional representation and detection accuracy; 2) low-quality domain leads to higher generalization ability in cross-domain detection; 3) low-quality domain can hardly be well learned in a domain-mixed learning process; 4) degrading recall efficiency, restoration cannot improve within-domain detection accuracy; 5) visual restoration is beneficial to detection in the wild by reducing the domain shift between training data and real-world scenes. Finally, as an illustrative example, we successfully perform underwater object detection with an aquatic robot.

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Xingyu Chen, Yue Lu, Zhengxing Wu, Junzhi Yu, Li Wen. 2020-03-04. Reveal of Domain Effect: How Visual Restoration Contributes to Object Detection in Aquatic Scenes. https://arxiv.org/abs/2003.01913

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