# Learning with Weak Annotations for Robust Maritime Obstacle Detection

arXiv: https://arxiv.org/abs/2206.13263 · HTML: https://mlsanity.com/paper/2206.13263/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 32 of its 58 references that are in the map.
- First posted on arXiv 27 Jun 2022.

## Builds on (most cited first, 30 of 32)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/1808.00897/) (2018)
- [ADVENT: Adversarial Entropy Minimization for Domain Adaptation in Semantic Segmentation](https://mlsanity.com/paper/1811.12833/) (2018)
- [FDA: Fourier Domain Adaptation for Semantic Segmentation](https://mlsanity.com/paper/2004.05498/) (2020)
- [RefineNet: Multi-Path Refinement Networks for High-Resolution Semantic Segmentation](https://mlsanity.com/paper/1611.06612/) (2016)
- [Deep Learning for Generic Object Detection: A Survey](https://mlsanity.com/paper/1809.02165/) (2018)
- [Learning Pixel-level Semantic Affinity with Image-level Supervision for Weakly Supervised Semantic Segmentation](https://mlsanity.com/paper/1803.10464/) (2018)
- [Self-supervised Equivariant Attention Mechanism for Weakly Supervised Semantic Segmentation](https://mlsanity.com/paper/2004.04581/) (2020)
- [BiSeNet V2: Bilateral Network with Guided Aggregation for Real-time Semantic Segmentation](https://mlsanity.com/paper/2004.02147/) (2020)
- [BoxSup: Exploiting Bounding Boxes to Supervise Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1503.01640/) (2015)
- [Adversarial Learning for Semi-Supervised Semantic Segmentation](https://mlsanity.com/paper/1802.07934/) (2018)
- [BoxInst: High-Performance Instance Segmentation with Box Annotations](https://mlsanity.com/paper/2012.02310/) (2020)
- [Semi-Supervised Semantic Segmentation with High- and Low-level Consistency](https://mlsanity.com/paper/1908.05724/) (2019)
- [Deep Extreme Cut: From Extreme Points to Object Segmentation](https://mlsanity.com/paper/1711.09081/) (2017)
- [Learning random-walk label propagation for weakly-supervised semantic segmentation](https://mlsanity.com/paper/1802.00470/) (2018)
- [Weakly-Supervised Salient Object Detection via Scribble Annotations](https://mlsanity.com/paper/2003.07685/) (2020)
- [Alpha-Refine: Boosting Tracking Performance by Precise Bounding Box Estimation](https://mlsanity.com/paper/2007.02024/) (2020)
- [Video Processing from Electro-optical Sensors for Object Detection and Tracking in Maritime Environment: A Survey](https://mlsanity.com/paper/1611.05842/) (2016)
- [Weakly- and Semi-Supervised Panoptic Segmentation](https://mlsanity.com/paper/1808.03575/) (2018)
- [Weakly-Supervised Semantic Segmentation by Iterative Affinity Learning](https://mlsanity.com/paper/2002.08098/) (2020)
- [A Comprehensive Analysis of Weakly-Supervised Semantic Segmentation in Different Image Domains](https://mlsanity.com/paper/1912.11186/) (2019)
- [Spatially Varying Label Smoothing: Capturing Uncertainty from Expert Annotations](https://mlsanity.com/paper/2104.05788/) (2021)
- [MODS -- A USV-oriented object detection and obstacle segmentation benchmark](https://mlsanity.com/paper/2105.02359/) (2021)
- [Fast image-based obstacle detection from unmanned surface vehicles](https://mlsanity.com/paper/1503.01918/) (2015)
- [Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark](https://mlsanity.com/paper/2103.05383/) (2021)
- [Learning Self-Supervised Low-Rank Network for Single-Stage Weakly and Semi-Supervised Semantic Segmentation](https://mlsanity.com/paper/2203.10278/) (2022)
- [Finding Berries: Segmentation and Counting of Cranberries using Point Supervision and Shape Priors](https://mlsanity.com/paper/2004.08501/) (2020)

## Abstract (arXiv)

Robust maritime obstacle detection is critical for safe navigation of autonomous boats and timely collision avoidance. The current state-of-the-art is based on deep segmentation networks trained on large datasets. However, per-pixel ground truth labeling of such datasets is labor-intensive and expensive. We propose a new scaffolding learning regime (SLR) that leverages weak annotations consisting of water edges, the horizon location, and obstacle bounding boxes to train segmentation-based obstacle detection networks, thereby reducing the required ground truth labeling effort by a factor of twenty. SLR trains an initial model from weak annotations and then alternates between re-estimating the segmentation pseudo-labels and improving the network parameters. Experiments show that maritime obstacle segmentation networks trained using SLR on weak annotations not only match but outperform the same networks trained with dense ground truth labels, which is a remarkable result. In addition to the increased accuracy, SLR also increases domain generalization and can be used for domain adaptation with a low manual annotation load. The SLR code and pre-trained models are available at https://github.com/lojzezust/SLR .