Fig. 1. Network structure
Fig. 2. Images of test board 1 under different illuminations. (a) Target 1 in the clear water; (b) 21.614l lx; (c) 13.826 lx; (d) 6.947 lx; (e) 0.925 lx
Fig. 3. Comparison of before and after preprocessing in fresh water. (a) Before degradation; (b) after degradation; (c) preprocessing
Fig. 4. Relation between initial learning rates and loss function values
Fig. 5. Influence of the skip connection on the restoration effect. (a) Without one-dimensional convolution; (b) with one-dimensional convolution
Fig. 6. Effect of the one-dimensional convolution on the loss function values
Fig. 7. Effect of the sub-pixel convolution on the enhancement of underwater photoelectric image
Fig. 8. Effect of the sub-pixel convolution on the loss function values
Fig. 9. Convergence curve of the proposed network structure
Fig. 10. Results of different scenes. (a) Scene 1, effect of the test target board 1(13.826 lx); (b) Scene 2, effect of the test target board 2(13.826 lx); (c) Scene 3, effect of the test target board 3 (13.826 lx); (d) Scene 4, real underwater photoelectronic test results; (e) Scene 5, effect of the target board 1 (6.947 lx)
Item | Train set | Validation set | | Test set |
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Number of images | 11804 | | 1300 | 5 | 10 | Size /(pixel×pixel) | 128×128 | | 128×128 | 256×256 | 821×821 |
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Table 1. Structure of the dataset
Item | BM3D+DCP | WDD+HEMSRCR | BM3D+HEMSRCR | WDD+DCP | Proposed method |
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Test time /s | 3.9289 | 2.9913 | 6.2570 | 0.5124 | 0.3617 | Speed up | 10.86× | 8.27× | 17.30× | 1.42× | - |
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Table 2. Average time for the different methods
Scene | BM3D+DCP | WDD+HEMSRCR | BM3D+HEMSRCR | WDD+DCP | Proposed method |
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1 | 11.84 | 8.05 | 8.14 | 11.86 | 14.08 | 2 | 10.57 | 9.41 | 9.65 | 10.56 | 12.67 | 3 | 11.15 | 7.94 | 8.06 | 11.17 | 13.50 | 4 | 8.45 | 7.09 | 7.15 | 8.44 | 9.76 | 5 | 8.47 | 7.90 | 7.82 | 8.48 | 10.21 |
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Table 3. [in Chinese]
Scene | BM3D+DCP | Wavelet+HEMSRCR | BM3D+HEMSRCR | Wavelet+DCP | Proposed method |
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1 | 16.60 | 5.67 | 4.12 | 14.62 | 25.57 | 2 | 17.79 | 8.54 | 11.28 | 17.80 | 35.85 | 3 | 15.19 | 15.30 | 10.16 | 13.19 | 20.11 | 4 | 13.70 | 6.21 | 9.74 | 13.77 | 19.60 | 5 | 12.61 | 9.14 | 10.52 | 12.73 | 30.58 |
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Table 4. RMSC values of different methods