Awesome Waterborne Transportation Systems

Overview

• Teams
• Workshops
• Surveys
• Datasets
• Uni-Modal Perception
  • Detection
    • Small Object Detection
  • Segmentation
  • Tracking
  • Diffusion
  • Image Enhancement
• Multi-Modal Perception
  • Radar-Camera
  • AIS-Camera

Teams

• WaterScenes [Website] [Github]

  University of Liverpool, Xi'an Jiaotong-Liverpool University, Institute of Deep Perception Technology, Jiangsu Industrial Technology Research Institute

• Marine Intelligent Perception and Computation (MIPC) Group [Website]

  Wuhan University of Technology

• Avalon [Website]

  University of Tübingen

• Visual Cognitive Systems (ViCos) Laboratory [Website] [Datasets]

  University of Ljubljana

Workshops

• MaCVi 2025

• MaCVi 2024

  • The 2nd Workshop on Maritime Computer Vision (MaCVi) 2024 [Website] [Results] [Paper List]
  • Baseline: SeaDronesSee: A Maritime Benchmark for Detecting Humans in Open Water [SeaDroneSee] [Paper]
  • 2023 - Sea You Later: Metadata-Guided Long-Term Re-Identification for UAV-Based Multi-Object Tracking [SeaDroneSee-MOT BoaTrack] WACV Workshop [Paper] (🥇 in UAV-based Multi-Object Tracking, and 🥇 in USV-based Multi-Object Tracking)
  • 2023 - ReIDTracker Sea: the technical report of BoaTrack and SeaDronesSee-MOT challenge at MaCVi [SeaDroneSee-MOT BoaTrack] WACV Workshop [Paper] (🥈 in UAV-based Multi-Object Tracking, 🥉 in USV-based Multi-Object Tracking)
  • 2023 - [DLR-BoaTrack]: Improving YOLOv8 with Scattering Transform and Attention for Maritime Awareness [SeaDroneSee-MOT BoaTrack] ISPA [Paper] (+BoT-SORT, 🥉 in UAV-based Multi-Object Tracking)
  • 2023 - SeaDSC: A video-based unsupervised method for dynamic scene change detection in unmanned surface vehicles [RoboWhaler] WACV Workshop [Paper]

• MaCVi 2023

  • The 1nd Workshop on Maritime Computer Vision (MaCVi) 2023 [Website] [Results] [Paper List]
  • Baseline: SeaDronesSee: A Maritime Benchmark for Detecting Humans in Open Water [SeaDroneSee] [Paper]
  • 2023 - A Novel Framework to Evaluate and Train Object Detection Models for Real-Time Victims Search and Rescue at Sea with Autonomous Unmanned Aerial Systems Using High-Fidelity Dynamic Marine Simulation Environment [SeaDroneSee] [Paper]
  • 2023 - Improving the Detection of Small Oriented Objects in Aerial Images [Paper]
  • 2023 - YOLOv7-Sea: Object Detection of Maritime UAV Images Based on Improved YOLOv7 [Paper]

Surveys

• 2017 - Video Processing From Electro-Optical Sensors for Object Detection and Tracking in a Maritime Environment: A Survey TITS [Paper]
• 2023 - Deep learning-based object detection in maritime unmanned aerial vehicle imagery: Review and experimental comparisons EAAI [Paper]

Datasets

Name	Year	Task	Affiliation	Link
MarDCT	2015	Classification Object Detection Tracking	Sapienza University of Rome	Website Paper
MODD	2016	Object Detection Semantic Segmentation	University of Ljubljana	Website Paper Github
SMD	2017	Object Detection Object Tracking	The Arctic University of Norway	Website Paper Github
Visual-Inertial-Canoe	2018	SLAM	University of Illinois at Urbana-Champaign	Website Paper
MODD2	2018	Object Detection Semantic Segmentation	University of Ljubljana	Website Paper Github
MaSTr1325	2019	Semantic Segmentation	University of Ljubljana	Website Paper Github
Tampere-WaterSeg	2019	Semantic Segmentation	Tampere University	Paper
MID	2020	Object Detection	Shanghai University	Paper Github
WSODD	2021	Object Detection Instance Segmentation	Beijing Institute of Technology	Paper Github
USVInland	2021	SLAM Stereo Matching Water Segmentation	ORCA-tech	Weibsite Paper Github
FloW	2021	Object Detection Multimodal Object Detection	ORCA-tech	Website Paper Github
SeaDronesSee	2021	Object Detection Object Tracking	University of Tuebingen	Website GitHub Paper
WaterScenes	2023	Object Detection Instance Segmentation Semantic Segmentation Free-Space Segmentation Waterline Segmentation Panoptic Perception	University of Liverpool	Website GitHub Paper
LaRS	2023	Semantic Segmentation Panoptic Segmentation	University of Ljubljana	Website GitHub Paper
MVDD13	2024	Object Detection	Dalian Maritime University	GitHub Paper

Uni-Modal Perception

Detection

• 2019 - Object Detection in a Maritime Environment: Performance Evaluation of Background Subtraction Methods [SMD] TITS [Paper]
• 2020 - Are Object Detection Assessment Criteria Ready for Maritime Computer Vision? [SMD] TITS [Paper]
• 2023 - An Automated Method for the Creation of Oriented Bounding Boxes in Remote Sensing Ship Detection Datasets WACV Workshop [Paper]
• 2024 - MDD-ShipNet: Math-Data Integrated Defogging for Fog-Occlusion Ship Detection TITS [Paper]
• 2024 - AodeMar: Attention-Aware Occlusion Detection of Vessels for Maritime Autonomous Surface Ships TITS [Paper]
• 2024 - RaViDeep: Target Detection Based on Deep Fusion of Radar and Vision in Berthing Scenarios TIV [Paper]
• 2024 - Panoptic Water Surface Visual Perception for USVs Using Monocular Camera Sensor [Detection, Segmentation] IEEE Sensors [Paper]

Small Object Detection

• 2023 - A novel Multi to Single Module for small object detection [SeaDroneSee] [Paper]
• 2024 - [RCFNet] Small Object Detection on the Water Surface Based on Radar and Camera Fusion [FloW] ICASSP [Paper]

Segmentation

• 2018 - Stereo obstacle detection for unmanned surface vehicles by IMU-assisted semantic segmentation [MODD2] [Paper]
• 2021 - ShorelineNet: An Efficient Deep Learning Approach for Shoreline Semantic Segmentation for Unmanned Surface Vehicles [MODD2] IROS [Paper]

Tracking

• 2021 - A Robust Deep Affinity Network for Multiple Ship Tracking [SMD] TIM [Paper]
• 2023 - Asynchronous Trajectory Matching-Based Multimodal Maritime Data Fusion for Vessel Traffic Surveillance in Inland Waterways TITS [Paper]
• 2023 - Stable Yaw Estimation of Boats from the Viewpoint of UAVs and USVs ECMR [Paper]
• 2023 - Memory Maps for Video Object Detection and Tracking on UAVs IROS [Paper]
• 2023 - Improving maritime traffic surveillance in inland waterways using the robust fusion of AIS and visual data Ocean Engineering [Paper]
• 2023 - Sea You Later: Metadata-Guided Long-Term Re-Identification for UAV-Based Multi-Object Tracking [SeaDroneSee-MOT BoaTrack] WACV Workshop [Paper]
• 2023 - ReIDTracker Sea: the technical report of BoaTrack and SeaDronesSee-MOT challenge at MaCVi [SeaDroneSee-MOT BoaTrack] WACV Workshop [Paper]
• 2023 - [DLR-BoaTrack]: Improving YOLOv8 with Scattering Transform and Attention for Maritime Awareness [SeaDroneSee-MOT BoaTrack] ISPA [Paper]
• 2024 - Active Vision-Based Finite-Time Trajectory-Tracking Control of an Unmanned Surface Vehicle Without Direct Position Measurements TITS [Paper]

Mapping

• 2024 - Real-Time Volumetric Perception for Unmanned Surface Vehicles Through Fusion of Radar and Camera TIM [Paper]

Diffusion

• 2023 - SafeSea: Synthetic Data Generation for Adverse & Low Probability Maritime Conditions [SeaDroneSee] WACV Workshop[Paper] [Code]

Image Enhancement

• 2023 - AiOENet: All-in-One Low-Visibility Enhancement to Improve Visual Perception for Intelligent Marine Vehicles Under Severe Weather Conditions TIV[Paper] [Code]

Multi-Modal Perception

Radar-Camera

• 2023 - Achelous: A Fast Unified Water-surface Panoptic Perception Framework based on Fusion of Monocular Camera and 4D mmWave Radar [Detection, Segmentation] [WaterScenes] ITSC [Paper] [GitHub]
• 2024 - RCBDet: Space Grafted Velocity 3D Boat Detection for Unmanned Surface Vessel via mmWave Radar and Camera [Detection] IEEE Sensors [Paper]
• 2024 - FVMNet: Real-Time Volumetric Perception for Unmanned Surface Vehicles Through Fusion of Radar and Camera [Segmentation] TIM [Paper]

AIS-Camera

Marine Radar-Camera

LiDAR-Camera