# Achelous++: Power-Oriented Water-Surface Panoptic Perception Framework on Edge Devices based on Vision-Radar Fusion and Pruning of Heterogeneous Modalities

arXiv: https://arxiv.org/abs/2312.08851 · HTML: https://mlsanity.com/paper/2312.08851/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 60 of its 82 references that are in the map.
- First posted on arXiv 14 Dec 2023.

## Builds on (most cited first, 30 of 60)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [The Lottery Ticket Hypothesis: Finding Sparse, Trainable Neural Networks](https://mlsanity.com/paper/1803.03635/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [MMDetection: Open MMLab Detection Toolbox and Benchmark](https://mlsanity.com/paper/1906.07155/) (2019)
- [Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semantics](https://mlsanity.com/paper/1705.07115/) (2017)
- [Pruning Filters for Efficient ConvNets](https://mlsanity.com/paper/1608.08710/) (2016)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [Multi-Task Learning as Multi-Objective Optimization](https://mlsanity.com/paper/1810.04650/) (2018)
- [Learning Efficient Convolutional Networks through Network Slimming](https://mlsanity.com/paper/1708.06519/) (2017)
- [Deformable ConvNets v2: More Deformable, Better Results](https://mlsanity.com/paper/1811.11168/) (2018)
- [MobileViT: Light-weight, General-purpose, and Mobile-friendly Vision Transformer](https://mlsanity.com/paper/2110.02178/) (2021)
- [Generalised Dice overlap as a deep learning loss function for highly unbalanced segmentations](https://mlsanity.com/paper/1707.03237/) (2017)
- [Rethinking the Value of Network Pruning](https://mlsanity.com/paper/1810.05270/) (2018)
- [Rigging the Lottery: Making All Tickets Winners](https://mlsanity.com/paper/1911.11134/) (2019)
- [Pruning neural networks without any data by iteratively conserving synaptic flow](https://mlsanity.com/paper/2006.05467/) (2020)
- [ThiNet: A Filter Level Pruning Method for Deep Neural Network Compression](https://mlsanity.com/paper/1707.06342/) (2017)
- [AMC: AutoML for Model Compression and Acceleration on Mobile Devices](https://mlsanity.com/paper/1802.03494/) (2018)
- [Filter Pruning via Geometric Median for Deep Convolutional Neural Networks Acceleration](https://mlsanity.com/paper/1811.00250/) (2018)
- [Scalable Training of Artificial Neural Networks with Adaptive Sparse Connectivity inspired by Network Science](https://mlsanity.com/paper/1707.04780/) (2017)
- [HRank: Filter Pruning using High-Rank Feature Map](https://mlsanity.com/paper/2002.10179/) (2020)
- [NISP: Pruning Networks using Neuron Importance Score Propagation](https://mlsanity.com/paper/1711.05908/) (2017)
- [Network Trimming: A Data-Driven Neuron Pruning Approach towards Efficient Deep Architectures](https://mlsanity.com/paper/1607.03250/) (2016)
- [DepGraph: Towards Any Structural Pruning](https://mlsanity.com/paper/2301.12900/) (2023)
- [FastViT: A Fast Hybrid Vision Transformer using Structural Reparameterization](https://mlsanity.com/paper/2303.14189/) (2023)

## Built on by (most cited first, 4 of 4)

- [WaterVG: Waterway Visual Grounding based on Text-Guided Vision and mmWave Radar](https://mlsanity.com/paper/2403.12686/) (2024)
- [NanoMVG: USV-Centric Low-Power Multi-Task Visual Grounding based on Prompt-Guided Camera and 4D mmWave Radar](https://mlsanity.com/paper/2408.17207/) (2024)
- [DVLO4D: Deep Visual-Lidar Odometry with Sparse Spatial-temporal Fusion](https://mlsanity.com/paper/2509.06023/) (2025)
- [Da Yu: Towards USV-Based Image Captioning for Waterway Surveillance and Scene Understanding](https://mlsanity.com/paper/2506.19288/) (2025)

## Abstract (arXiv)

Urban water-surface robust perception serves as the foundation for intelligent monitoring of aquatic environments and the autonomous navigation and operation of unmanned vessels, especially in the context of waterway safety. It is worth noting that current multi-sensor fusion and multi-task learning models consume substantial power and heavily rely on high-power GPUs for inference. This contributes to increased carbon emissions, a concern that runs counter to the prevailing emphasis on environmental preservation and the pursuit of sustainable, low-carbon urban environments. In light of these concerns, this paper concentrates on low-power, lightweight, multi-task panoptic perception through the fusion of visual and 4D radar data, which is seen as a promising low-cost perception method. We propose a framework named Achelous++ that facilitates the development and comprehensive evaluation of multi-task water-surface panoptic perception models. Achelous++ can simultaneously execute five perception tasks with high speed and low power consumption, including object detection, object semantic segmentation, drivable-area segmentation, waterline segmentation, and radar point cloud semantic segmentation. Furthermore, to meet the demand for developers to customize models for real-time inference on low-performance devices, a novel multi-modal pruning strategy known as Heterogeneous-Aware SynFlow (HA-SynFlow) is proposed. Besides, Achelous++ also supports random pruning at initialization with different layer-wise sparsity, such as Uniform and Erdos-Renyi-Kernel (ERK). Overall, our Achelous++ framework achieves state-of-the-art performance on the WaterScenes benchmark, excelling in both accuracy and power efficiency compared to other single-task and multi-task models. We release and maintain the code at https://github.com/GuanRunwei/Achelous.