用单步无配对翻译生成逼真海面恶劣天气图像,保留小物体细节。
MariData: One-Step Unpaired Image Translation for Maritime Environments

- 采用改进的CycleGAN-turbo,通过零卷积跳连绕过编码瓶颈
- 7000张海景图训练,雾天/日落/夜晚转换中保持结构准确
- 适合自动驾驶船舶数据增强,尤其关注小目标保真度
面向自主海上航行船舶(MASS)的鲁棒感知系统发展受限于多样训练数据的缺乏,尤其是恶劣天气与低光照条件下的数据。由于在动态海面环境中无法获取成对图像,通过无配对图像到图像翻译生成合成数据成为关键解决方案。然而现有生成模型因潜在压缩瓶颈,难以保留小型导航目标的精细结构细节。本文提出基于CycleGAN-turbo的框架,通过引入零卷积跳连绕过变分自编码器(VAE)瓶颈,显式保留小物体细节(如远距离船只和航标)。我们构建了包含7000张海景图像的数据集,用于训练和评估日间到雾天、日间到日落、日间到夜晚的域转换。定性评估与多强度推理实验表明,该方法能有效生成真实大气条件下的图像,同时维持场景语义结构。日间到雾天与日间到日落模型表现出优异的结构保留能力,而日间到夜晚模型则暴露出由训练分布不平衡引发的语义幻觉问题,如生成虚假海岸灯光。本工作建立了一条高效、结构感知的合成数据流水线,直接应对自主海上导航中的数据稀缺瓶颈。
原文摘要 · Abstract (English)
The development on robust perception systems for Maritime Autonomous Surface Ships (MASS) is heavily constrained by the scarcity of diverse training data, particularly for adverse weather and low-light conditions. Because collecting paired images in dynamic maritime environments is physically impossible, synthetic data generation via unpaired image-to-image translation offers a critical solution. However, existing generative models suffer from failing to preserve the fine structural details of small navigational objects due to latent compression bottlenecks. In this paper, we introduce a framework for generating synthetic maritime data using CycleGAN-turbo, a one-step unpaired translation architecture. By incorporating zero-convolution skip connections to bypass the Variational Autoencoder (VAE) bottleneck, our approach explicitly preserves small object details (e.g., distant vessels and sea marks) during translation. We compiled a dataset of 7,000 maritime images to train and evaluate models for Day-to-Foggy, Day-to-Sunset, and Day-to-Night domain translations. Qualitative evaluations and variable-strength inference studies demonstrate that our method effectively synthesizes realistic atmospheric conditions while maintaining the underlying semantic structure of the scene. The Day-to-Foggy and Day-to-Sunset models exhibit great structural retention, whereas the Day-to-Night model highlights the challenge of semantic hallucination, such as generating artificial coastal lights, induced by unbalanced training distributions. Ultimately, this work establishes an efficient, structure-aware data synthesis pipeline that directly addresses the data scarcity bottleneck in autonomous maritime navigation.
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