mlsanityData to 7 Oct 2026

A Dataset with Multibeam Forward-Looking Sonar for Underwater Object Detection

arXiv 2212.00352 ↗First posted 1 Dec 2022cs.CV cs.AIcited by 11

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Abstract (arXiv)

Multibeam forward-looking sonar (MFLS) plays an important role in underwater detection. There are several challenges to the research on underwater object detection with MFLS. Firstly, the research is lack of available dataset. Secondly, the sonar image, generally processed at pixel level and transformed to sector representation for the visual habits of human beings, is disadvantageous to the research in artificial intelligence (AI) areas. Towards these challenges, we present a novel dataset, the underwater acoustic target detection (UATD) dataset, consisting of over 9000 MFLS images captured using Tritech Gemini 1200ik sonar. Our dataset provides raw data of sonar images with annotation of 10 categories of target objects (cube, cylinder, tyres, etc). The data was collected from lake and shallow water. To verify the practicality of UATD, we apply the dataset to the state-of-the-art detectors and provide corresponding benchmarks for its accuracy and efficiency.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Builds on 9 of its 26 references that are in the map. First posted on arXiv 1 Dec 2022.

Builds on

9 of 26 references.

References · 9

  1. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,617
  2. 2018YOLOv3: An Incremental Improvementcited by 2,652
  3. 2019MMDetection: Open MMLab Detection Toolbox and Benchmarkcited by 1,379
  4. 2020Semantic Segmentation of Underwater Imagery: Dataset and Benchmarkcited by 95
  5. 2021A Dataset And Benchmark Of Underwater Object Detection For Robot Pickingcited by 31
  6. 2021The Marine Debris Dataset for Forward-Looking Sonar Semantic Segmentationcited by 22
  7. 2022Self-supervised Learning for Sonar Image Classificationcited by 12
  8. 2022Cross-view and Cross-domain Underwater Localization based on Optical Aerial and Acoustic Underwater Imagescited by 3
  9. 2020A rasterized ray-tracer pipeline for real-time, multi-device sonar simulationcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 3; 2026: 5.

11 papers.

  1. 2024RGB-Sonar Tracking Benchmark and Spatial Cross-Attention Transformer Trackercited by 6
  2. 2024SeafloorAI: A Large-scale Vision-Language Dataset for Seafloor Geological Surveycited by 6
  3. 2024Sonar-based Deep Learning in Underwater Robotics: Overview, Robustness and Challengescited by 5
  4. 2025Sonar Image Datasets: A Comprehensive Survey of Resources, Challenges, and Applicationscited by 2
  5. 2026uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perceptioncited by 2
  6. 2025Underwater object detection in sonar imagery with detection transformer and Zero-shot neural architecture searchcited by 0
  7. 2025Towards Training-Free Underwater 3D Object Detection from Sonar Point Clouds: A Comparison of Traditional and Deep Learning Approachescited by 0
  8. 2026MambaDSF: Multi-Scale SSM with Dilated Feature Fusion for Sonar Small Target Detectioncited by 0
  9. 2026Spiking Neural Networks for Energy-Efficient Object Detection in Forward-Looking Sonar Imagerycited by 0
  10. 2026Quantum-Gated LiteSSD: A Parameter-Efficient Lightweight Hybrid Quantum-Classical Framework for Forward-Looking Sonar Object Detectioncited by 0
  11. 2026Beyond Pixel Similarity: Task-Aware Evaluation of GAN-Based Synthetic Sonar Data for Robotic Perceptioncited by 0